增加了自动重连功能

include/hins/xingsong_driver.h

@@ -14,7 +14,7 @@
  */
 
 #pragma once
-
+#include "ros/ros.h"
 #include "hins/laser_data_receiver.h"
 #include <set>
 namespace hins

src/hins/xingsong_driver.cpp

@@ -212,7 +212,7 @@ void XingSongDriver::RunMain()
     std::cout << "兴颂雷达启动失败，请检查网络连接." << std::endl;
   }
 
-  while(true) // @todo: stop loop condition need to modified
+  while(ros::ok) // @todo: stop loop condition need to modified
   {
     if(IsConnected())
     {
@@ -220,7 +220,7 @@ void XingSongDriver::RunMain()
     }
     else
     {
-      while(IsConnected()){
+      while(!IsConnected()){
         std::cout << "激光雷达断线，正在重新连接 ... " << std::endl;
         if(StartCapturingTCP()){
           std::cout << "激光雷达重新连接成功." << std::endl;