From be14ebb277b899a7085759827181d43a7eb7435f Mon Sep 17 00:00:00 2001 From: Max SCHMELLER Date: Mon, 26 Aug 2024 16:28:24 +0900 Subject: [PATCH] fix(hesai): correctly handle return mode when updating parameters --- nebula_ros/src/hesai/hesai_ros_wrapper.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp index 132d0f4d2..e0e0b91c1 100644 --- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp +++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp @@ -273,7 +273,8 @@ rcl_interfaces::msg::SetParametersResult HesaiRosWrapper::OnParameterChange( } if (_return_mode.length() > 0) - new_cfg.return_mode = nebula::drivers::ReturnModeFromString(_return_mode); + new_cfg.return_mode = + nebula::drivers::ReturnModeFromStringHesai(_return_mode, sensor_cfg_ptr_->sensor_model); auto new_cfg_ptr = std::make_shared(new_cfg); auto status = ValidateAndSetConfig(new_cfg_ptr);