fix(hesai): correctly handle return mode when updating parameters (#185)

tier4 · Aug 26, 2024 · 95c3709 · 95c3709
1 parent 5377d1c
commit 95c3709
Showing 1 changed file with 2 additions and 1 deletion.
diff --git 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<const nebula::drivers::HesaiSensorConfiguration>(new_cfg);
   auto status = ValidateAndSetConfig(new_cfg_ptr);