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What is changed
udp_connection_monitor
rosparam, If enabled it will keep monitoring the udp packets that device is broadcasting, for also configurable by watchdog time ofudp_connection_monitor_watchdog_timeout_ms
rosparam, when no udp packet is received for configured amount of time, the driver would go to reinitialize state and send the communication setting over tcp indefinitely. When the connection is re-established and we receive a response to TCP request the node resumes with normal operation.Connection Status
field inGeneralSystemStateMsg.msg
to have the device status reflected on the/diagnostics
topic.yaml
file to make it more readable and easy to maintain.