fix(hesai): return error properly when cut angle is set out-of-range

mojomex · Sep 17, 2024 · 2e42bd0 · 2e42bd0
1 parent b9bd9d8
commit 2e42bd0
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -228,6 +228,7 @@ Status HesaiRosWrapper::ValidateAndSetConfig(
   if (!drivers::angle_is_between<double>(
         new_config->cloud_min_angle, new_config->cloud_max_angle, new_config->cut_angle)) {
     RCLCPP_ERROR(get_logger(), "Cannot cut scan outside of the FoV.");
+    return Status::SENSOR_CONFIG_ERROR;
   }
 
   bool fov_is_360 = new_config->cloud_min_angle == 0 && new_config->cloud_max_angle == 360;