Added respawn delay to connector nodes (#1044)

* Added respawn delay to connector nodes * Changed errors in DVL, IMU, and Depth Sensor drivers to ROS_ERROR_THROTTLE
uf-mil · Feb 28, 2024 · 824c481 · 824c481
1 parent c824a61
commit 824c481
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Showing 4 changed files with 11 additions and 11 deletions.
diff --git a/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch b/SubjuGator/command/subjugator_launch/launch/subsystems/nav_box.launch
@@ -7,7 +7,7 @@
 
   <!-- DVL -->
   <group if="$(eval dvl and environment == 'real')">
-    <node pkg="subjugator_launch" type="dvl_conn" name="dvl_conn" respawn="true"/>
+    <node pkg="subjugator_launch" type="dvl_conn" name="dvl_conn" respawn="true" respawn_delay = "10"/>
     <node pkg="nodelet" type="nodelet" name="dvl_driver" args="standalone rdi_explorer_dvl/nodelet">
       <param name="port" type="string" value="/tmp/dvl"/>
       <param name="frame_id" type="string" value="/dvl"/>
@@ -17,7 +17,7 @@
 
   <!-- Depth Sensor -->
   <group if="$(eval depth and environment == 'real')">
-    <node pkg="subjugator_launch" type="depth_conn" name="depth_conn" respawn="true"/>
+    <node pkg="subjugator_launch" type="depth_conn" name="depth_conn" respawn="true" respawn_delay = "10"/>
     <node pkg="nodelet" type="nodelet" name="depth_driver" args="standalone depth_driver/nodelet">
       <param name="port" type="string" value="/tmp/depth"/>
       <param name="frame_id" type="string" value="/depth"/>
@@ -26,7 +26,7 @@
 
   <!-- IMU -->
   <group if="$(arg imu)" >
-    <node if="$(eval environment == 'real')" pkg="subjugator_launch" type="imu_conn" name="imu_conn" respawn="true"/>
+    <node if="$(eval environment == 'real')" pkg="subjugator_launch" type="imu_conn" name="imu_conn" respawn="true" respawn_delay = "10"/>
     <node if="$(eval environment == 'real')" pkg="nodelet" type="nodelet" name="imu_driver"
           args="standalone adis16400_imu/nodelet">
       <param name="port" type="string" value="/tmp/imu"/>

diff --git a/SubjuGator/drivers/sub8_adis16400_imu/include/adis16400_imu/driver.h b/SubjuGator/drivers/sub8_adis16400_imu/include/adis16400_imu/driver.h
@@ -41,7 +41,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("error on open(%s): %s; reopening after delay", port.c_str(), exc.what());
+      ROS_ERROR_THROTTLE(5, "error on open(%s): %s; reopening after delay", port.c_str(), exc.what());
       boost::this_thread::sleep(boost::posix_time::seconds(1));
       return false;
     }
@@ -62,7 +62,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("error on read: %s; reopening", exc.what());
+      ROS_ERROR_THROTTLE(5, "error on read: %s; reopening", exc.what());
       open();
       return false;
     }

diff --git a/SubjuGator/drivers/sub8_depth_driver/include/depth_driver/driver.h b/SubjuGator/drivers/sub8_depth_driver/include/depth_driver/driver.h
@@ -69,7 +69,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("error on write: %s; dropping", exc.what());
+      ROS_ERROR_THROTTLE(5, "error on write: %s; dropping", exc.what());
     }
   }
 
@@ -82,7 +82,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("error on read: %s; reopening", exc.what());
+      ROS_ERROR_THROTTLE(5, "error on read: %s; reopening", exc.what());
       open();
       return false;
     }
@@ -98,7 +98,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("error on open(%s): %s; reopening after delay", port.c_str(), exc.what());
+      ROS_ERROR_THROTTLE(5, "error on open(%s): %s; reopening after delay", port.c_str(), exc.what());
       boost::this_thread::sleep(boost::posix_time::seconds(1));
     }
   }

diff --git a/SubjuGator/drivers/sub8_rdi_dvl/include/rdi_explorer_dvl/driver.hpp b/SubjuGator/drivers/sub8_rdi_dvl/include/rdi_explorer_dvl/driver.hpp
@@ -48,7 +48,7 @@ class Device
       }
       catch (const std::exception &exc)
       {
-        ROS_ERROR_THROTTLE(0.5, "DVL: error on read: %s; reopening serial port", exc.what());
+        ROS_ERROR_THROTTLE(5, "DVL: error on read: %s; reopening serial port", exc.what());
         open();
         return false;
       }
@@ -86,7 +86,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR("DVL: error on open(port=%s): %s; reopening after delay", port.c_str(), exc.what());
+      ROS_ERROR_THROTTLE(5, "DVL: error on open(port=%s): %s; reopening after delay", port.c_str(), exc.what());
       boost::this_thread::sleep(boost::posix_time::seconds(1));
     }
   }
@@ -268,7 +268,7 @@ class Device
     }
     catch (const std::exception &exc)
     {
-      ROS_ERROR_THROTTLE(0.5, "DVL: error on write: %s; dropping heartbeat", exc.what());
+      ROS_ERROR_THROTTLE(5, "DVL: error on write: %s; dropping heartbeat", exc.what());
     }
   }