Node doesn't exit or reconnect after communication errors

[pomerlef]

The driver is lock if there is a communication issue (ex., the cable is disconnected). The node won't report an error, exit, nor reconnect if the communication is reestablished.

Also, the method isConnected() is not looking actively if the laser is connected, but only report a state written by the connect(std::string host, int port) method.

I'm not sure if the correct behavior should be to kill the node or to report the error using ROS_ERROR and try to reconnect in the background.

[mikepurvis]

The intention is that it loops around and tries to connect again, but this driver is not particularly well architected— it needs some love to make it more robust to those type of events.

[jeff-o]

I've noticed this, too. If the ethernet port the driver is expecting to use isn't ready, or perhaps is changing due to a bridge configuration, then the driver will fail to reinitialize. I've worked around it by giving the LIDAR a dedicated static port, but that's just a bandaid solution.