allow connection retries

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
ros-sports · Nov 30, 2023 · b40e986 · b40e986
1 parent 4339238
commit b40e986
Showing 1 changed file with 9 additions and 4 deletions.
diff --git a/nao_lola_client/src/connection.cpp b/nao_lola_client/src/connection.cpp
@@ -21,10 +21,15 @@ Connection::Connection()
 : io_service(), socket(io_service), logger(rclcpp::get_logger("lola connection"))
 {
  boost::system::error_code ec;
- socket.connect(ENDPOINT, ec);
- if (ec) {
- RCLCPP_ERROR(logger, (std::string{"Could not connect to LoLA: "} + ec.message()).c_str());
- }
+ rclcpp::Clock clock;
+ do {
+ socket.connect(ENDPOINT, ec);
+ if (ec) {
+ RCLCPP_WARN_SKIPFIRST_THROTTLE(
+ logger, clock, 1000,
+ (std::string{"Could not connect to LoLA, retrying: "} + ec.message()).c_str());
+ }
+ } while (ec && rclcpp::ok());
 }
 
 std::array<char, MSGPACK_READ_LENGTH> Connection::receive()