Handle "FAILURE" grab error

stereolabs · Sep 25, 2024 · 1dd4ee9 · 1dd4ee9
1 parent 210abf8
commit 1dd4ee9
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/zed_components/src/zed_camera/src/zed_camera_component.cpp b/zed_components/src/zed_camera/src/zed_camera_component.cpp
@@ -6005,18 +6005,18 @@ void ZedCamera::threadFunc_zedGrab()
                 << sl::toString(mGrabStatus).c_str());
             rclcpp::sleep_for(1000ms);
             continue;
-          } else if (mGrabStatus == sl::ERROR_CODE::CAMERA_NOT_INITIALIZED) {
+          } else if (mGrabStatus == sl::ERROR_CODE::CAMERA_NOT_INITIALIZED || mGrabStatus == sl::ERROR_CODE::FAILURE) {
             RCLCPP_ERROR_STREAM(
               get_logger(),
               "Camera issue detected: "
-                << sl::toString(mGrabStatus).c_str());
+                << sl::toString(mGrabStatus).c_str() << ". Trying to recover the connection...");
             rclcpp::sleep_for(1000ms);
             continue;
           } else {
             RCLCPP_ERROR_STREAM(
               get_logger(),
               "Critical camera error: " << sl::toString(mGrabStatus).c_str()
-                                        << ". Node stopped.");
+                                        << ". NODE KILLED.");
             mZed.reset();
             exit(EXIT_FAILURE);
           }