From 54af63eccab9a11af5d61bbaaf4260ca87ecf2d8 Mon Sep 17 00:00:00 2001 From: Richard Date: Tue, 21 Feb 2023 23:25:55 +0000 Subject: [PATCH 1/2] fixed error count reset bug --- src/urg_node2.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/urg_node2.cpp b/src/urg_node2.cpp index c39fed4..6221d83 100644 --- a/src/urg_node2.cpp +++ b/src/urg_node2.cpp @@ -499,6 +499,7 @@ void UrgNode2::scan_thread() RCLCPP_WARN(get_logger(), "Could not get single echo scan."); error_count_++; total_error_count_++; + prev_time = system_clock.now(); device_status_ = urg_sensor_status(&urg_); sensor_status_ = urg_sensor_state(&urg_); is_stable_ = urg_is_stable(&urg_); @@ -514,10 +515,8 @@ void UrgNode2::scan_thread() break; } else { // エラーカウントのリセット - rclcpp::Time current_time = system_clock.now(); - rclcpp::Duration period = current_time - prev_time; + rclcpp::Duration period = system_clock.now() - prev_time; if (period.seconds() >= error_reset_period_) { - prev_time = current_time; error_count_ = 0; } } From c778f4cfcbe96f67d58368d1d7c5f06082c3b608 Mon Sep 17 00:00:00 2001 From: Richard Date: Thu, 23 Feb 2023 12:59:22 +0000 Subject: [PATCH 2/2] Added fix to multi-echo --- src/urg_node2.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/urg_node2.cpp b/src/urg_node2.cpp index 6221d83..59adddd 100644 --- a/src/urg_node2.cpp +++ b/src/urg_node2.cpp @@ -484,6 +484,7 @@ void UrgNode2::scan_thread() RCLCPP_WARN(get_logger(), "Could not get multi echo scan."); error_count_++; total_error_count_++; + prev_time = system_clock.now(); device_status_ = urg_sensor_status(&urg_); sensor_status_ = urg_sensor_state(&urg_); is_stable_ = urg_is_stable(&urg_);