If our robots power on a laser after first starting urg_node, the first connection attempt sometimes fails with persistent checksum errors.
This causes the driver to fail the IsIntensitySupported() test, which permanently clears the publishintensity flag.
After repeated checksum errors the driver will reset and connect successfully but publishintensity will be clear so we will not receive intensity info.
The same logic appears to apply to multiecho, but we don't have a multiecho device to test with.
If our robots power on a laser after first starting urg_node, the first connection attempt sometimes fails with persistent checksum errors. This causes the driver to fail the IsIntensitySupported() test, which permanently clears the publishintensity flag.
After repeated checksum errors the driver will reset and connect successfully but publishintensity will be clear so we will not receive intensity info. The same logic appears to apply to multiecho, but we don't have a multiecho device to test with.
We're using #58 which appears to fix the issue.