Always wait on hardware if hardware is true.

tier4 · Feb 11, 2025 · 6858e48 · 6858e48
1 parent dcae733
commit 6858e48
Showing 1 changed file with 11 additions and 8 deletions.
diff --git a/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
@@ -107,16 +107,19 @@ Status VelodyneHwInterface::get_sensor_configuration(SensorConfigurationBase & s
 
 VelodyneStatus VelodyneHwInterface::init_http_client()
 {
-  try {
-    http_client_driver_->init_client(sensor_configuration_->sensor_ip, 80);
-    if (!http_client_driver_->client()->isOpen()) {
-      http_client_driver_->client()->open();
+  while (true) {
+    try {
+      http_client_driver_->init_client(sensor_configuration_->sensor_ip, 80);
+      if (!http_client_driver_->client()->isOpen()) {
+        http_client_driver_->client()->open();
+      }
+      return Status::OK;
+    } catch (const std::exception & ex) {
+      std::cerr << "Error initializing lidar: " << ex.what() << std::endl;
+      std::cerr << "Retrying after 5 seconds..." << std::endl;
+      std::this_thread::sleep_for(std::chrono::seconds(5));
     }
-  } catch (const std::exception & ex) {
-    VelodyneStatus status = Status::HTTP_CONNECTION_ERROR;
-    return status;
   }
-  return Status::OK;
 }
 
 void VelodyneHwInterface::string_callback(const std::string & str)