chore hesai ptp diag condition

tier4 · Nov 26, 2024 · 2ae95f0 · 2ae95f0
1 parent d04eac5
commit 2ae95f0
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/nebula_ros/src/hesai/hw_monitor_wrapper.cpp b/nebula_ros/src/hesai/hw_monitor_wrapper.cpp
@@ -269,8 +269,8 @@ void HesaiHwMonitorWrapper::HesaiCheckPtp(diagnostic_updater::DiagnosticStatusWr
     if (ptp_status != "UNKNOWN") {
       msg.emplace_back("ptp_status: " + ptp_status);
     }
-    if (ptp_status == "FREE RUN" && gps_status == "UNKNOWN") {
-      level = diagnostic_msgs::msg::DiagnosticStatus::WARN;
+    if (ptp_status == "FREE RUN" || ptp_status == "FROZEN") {
+      level = diagnostic_msgs::msg::DiagnosticStatus::ERROR;
     }
     diagnostics.summary(level, boost::algorithm::join(msg, ", "));
   } else {