ROS-119: ouster-ros driver automatic reconnection [HUMBLE/IRON/JAZZY]

[Samahu]

Related Issues & PRs

• related Ouster (sensor.launch) Retry connecting to sensor instead of crashing #55
• resolves Handle cases of the lidar sensor becoming unpowered during operation #119
• resolves Reconnection behavior #233
• related Reconnection to sensor #332
• resolves [ROS2] Launching nodes when the lidar is not yet powered #337

Summary of Changes

• Implement sensor reconnection behavior
• Handle sensor reconfiguration from a cold start
• Add a flag to enable sensor reconnect (default disabled)
• properly handle config change outside of the ros driver
• only persist config startup config if persist_config was set
• only auto_udp if startup config didn't set an address
• added a parameter to set the dromant period between re-connection attempts
• added a parameter to set the maximum number of subsequent failed re-connection attempts
• added ROS Jazzy to the build 🎉
• added auto_start flag

Known Issues

• Doesn't handle invalid configurations gracefully

Validation

• Use the driver with default configuration to connect to a sensor & verify normal activity
• Enable the attempt_reconnect parameter and verify that it works as expected for the following scenarios
  • Starting from an under powered or unconnected sensor
    • Connect or power up the sensor
    • Verify the driver connects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • Disconnect the sensor and reconnect it
    • Verify the driver connects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • power down the sensor and power it up
    • Verify the driver connects successfully within 10-15 seconds (and adjusts to sensor persisted config if different)
  • Using a powered up and connected sensor
    • Use set_config to change sensor configuration
    • Verify the driver reconnects successfully within 10-15 seconds
  • Using a powered up and connected sensor
    • Change some setting on through the sensor configuration page
    • Verify the driver reconnects successfully within 10-15 seconds

Additional parameters to test

# dormant_period_between_reconnects[optional]: wait time in seconds between
# reconnection attempts
dormant_period_between_reconnects: 1.0
# max_failed_reconnect_attempts[optional]: maximum number of attempts trying
# to communicate with the sensor. Counter resets upon successful connection.
max_failed_reconnect_attempts: 2147483647