To resolve the socketcan interface dying due to can errors and failing to recover #474
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hellantos
reviewed
Jan 19, 2023
| @@ -55,6 +55,7 @@ namespace socketcan_bridge | |||
| can_topic_ = nh->advertise<can_msgs::Frame>("received_messages", | |||
| nh_param->param("received_messages_queue_size", 10)); | |||
| driver_ = driver; | |||
| timer = nh->createTimer(ros::Duration(0.1), std::bind(&SocketCANToTopic::timerCallback, this, std::placeholders::_1)); | |||
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This is a polling approach. We should at least be able to configure the duration via for example a ROS parameter. Also there should be an option to disable this behaviour.
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Perhaps by treating a zero duration as disabled. Zero is a common exception used for this and save a new parameter.
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This is to solve issue #468. A ros timer is started to check the driver state after every specified duration and to reinitialize the driver for the node if the driver has recovered.