node throws "what(): At least one sensor must be configured." error when adding an eighth sensor to radar.template.yaml

[chilisam]

With up until 7 sensors specified in radar.template.yaml, radar.launch.py runs just fine but when adding an eighth it thows the error:

...
[smartmicro_radar_node_exe-1] terminate called after throwing an instance of 'std::runtime_error'
[smartmicro_radar_node_exe-1]   what():  At least one sensor must be configured.

I've made sure that the indentation is correct. Here you can compare radar7.template.yaml.txt that works, i.e. the one with 7 sensors, and radar8.template.yaml.txt which is the one that breaks, i.e. the one with 8 sensors.

radar7.template.yaml.txt radar8.template.yaml.txt

[smartSRA]

Hey,

Thanks for param providing the files. I did reproduce it and yes I observed the problem. I am working on it and would let you know once done.

A quick solution would be to increase the max count to ten in the following line and than it should work.

https://github.com/smartmicro/smartmicro_ros2_radars/blob/a08720ba2294bb3271b9f24489e8adc4d14528ef/umrr_ros2_driver/include/umrr_ros2_driver/smartmicro_radar_node.hpp#L48.

[chilisam]

I tried it and now it works, thank you!.

Note: I had to set the kMaxSensorCount to one number higher than the actual number of sensors I'm setting up. To set up 10 sensors (i.e. from 0 to 9) I had to set the value to 11UL, otherwise it wouldn't work.

[smartSRA]

Great!. I am going to close this issue for now and update the count in a following patch release. Thanks for reporting.

[paaraujo]

Hi @chilisam, how did you configure the hw_inventory.json file to have multiple radars working? Besides the radar.template.yaml, what else did you change?