Improve ROS2 node management #67
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gennartan
commented
Dec 11, 2025
gennartan
commented
- Improve lifecycle of the node starting client within the node constructor
- Generalize parameter loading into specific function for proper separation between configuration and logic
- Add on_set_parameter_callback to be able to re-configure the NTRIP client at runtime
- add recovery_timer to periodically check the NTRIP state (and restart the client if necessary)
added 7 commits
December 11, 2025 11:10
Using the argument 'autostart=False' available from jazzy, this allows to create the timer without starting it.
Let the destroy logic be called when the ntrip client node is dereferenced. This is done in order to prepare the ROS node to be re-configurable at runtime. In this case, when calling stop, we do not want the node to self destroy.
This separates the parameter loading logic from the client initialization making it easier to update.
So that the ROS node can manage its child attribute at runtime. In particular it can manages the ntrip_client in dedicated callback.
The recovery callback checks the connection status. When the client is disconnected for too long, try to stop the client and restart.
This is useful to detect update of the NTRIP configuration at runtime and automatically reload the NTRIP client when it is the case.
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