From 8b8c5fc4dd7a1bb2b52c50f92986f9e7c10e5024 Mon Sep 17 00:00:00 2001
From: HinSon <2636178756@qq.com>
Date: Mon, 7 Mar 2022 15:41:55 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=86=E8=87=AA=E5=8A=A8?=
 =?UTF-8?q?=E9=87=8D=E8=BF=9E=E5=8A=9F=E8=83=BD?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 include/hins/xingsong_driver.h | 2 +-
 src/hins/xingsong_driver.cpp   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/hins/xingsong_driver.h b/include/hins/xingsong_driver.h
index 429629e..ed1178f 100644
--- a/include/hins/xingsong_driver.h
+++ b/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
diff --git a/src/hins/xingsong_driver.cpp b/src/hins/xingsong_driver.cpp
index fc35dfd..323f63c 100644
--- a/src/hins/xingsong_driver.cpp
+++ b/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;