feat: add new ros param to disable warning when no data is received (#59) - #101
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xmfcx merged 2 commits intoSep 7, 2026
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) * Added ros param to disable warning when no data is received. Signed-off-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> * Linting and comment changes from PR feedback. Signed-off-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> * fix: gate only receive timeouts behind the parameter The parameter guarded the generic `catch (const std::exception &)` handler, which also catches a failed `read(2)`, an incomplete frame, a wrong size frame and a corrupted CAN FD frame. Setting it silenced those as well. `SocketCanReceiver::wait()` is the only place that throws `SocketCanTimeout`, and the header documents the split already. Catch that type first and gate only it. Every other receive error warns as before. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> * refactor: rename the parameter to warn_on_receive_timeout The parameter now gates the timeout alone, so the name states the event that it controls. The polarity matches `use_bus_time` and `enable_can_fd` next to it, and it removes the double negative from the guard. `warn_on_receive_timeout` defaults to `true`, which is the same behaviour as `disable_warn_no_receive` with its default of `false`. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> * feat: declare the receive timeout parameter in the launch files `ros2 launch` cannot set a node parameter that the launch file does not declare, so the parameter was reachable only through `ros2 run ... --ros-args -p`. Declare and forward it in both launch files, next to `use_bus_time`. Log the value at startup with the other parameters. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> --------- Signed-off-by: Tony Baltovski <tbaltovski@clearpathrobotics.com> Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org> (cherry picked from commit e4401ec) Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org>
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Description
Backport the receive-timeout warning parameter from
maintojazzy. This is layer 11 of 11, based onfeat/jazzy-10-receiver-node-destructor.The
warn_on_receive_timeoutparameter defaults totrueand controls the throttled receive-timeout warning. Both launch files expose the parameter.This branch includes the Humble formatting and GoogleTest fixes, plus the virtual CAN trigger fix, from the preceding layers.
The CI follow-up awaits a separate review.
AI usage
AI usage: Cherry-picked from
mainwith Claude Code. Codex prepared the CI follow-up, propagated it through normal merge commits, and ran the local checks below.Self-review: Pure backport, I checked the order and verified that it is correct.
Verification: Local package builds and tests passed on Humble and Jazzy. All five destruction cases passed with virtual CAN on each distribution.
CI on the published head
Humble and Jazzy package builds and tests
Tested
ec1c4f1fc31a8bc5f752ad643a422e176fd456c5in Ubuntu 22.04 / Humble and Ubuntu 24.04 / Jazzy containers. All colcon commands ran from/home/mfc/projects/autoware, with isolated build and install paths, Release mode, and--coverage.0.Summary: 220 tests, 0 errors, 0 failures, 51 skippedSummary: 226 tests, 0 errors, 0 failures, 53 skippedROS2_SOCKETCAN_REQUIRE_VCAN0=1:5 tests,0 errors,0 failures,0 skipped.