From ba147026816f246595bac7b13d3dcd5fc0b6539e Mon Sep 17 00:00:00 2001
From: Kenji Brameld <kenjibrameld@gmail.com>
Date: Thu, 30 Nov 2023 02:51:56 +0000
Subject: [PATCH] allow connection retries

Signed-off-by: Kenji Brameld <kenjibrameld@gmail.com>
---
 nao_lola_client/src/connection.cpp | 13 +++++++++----
 1 file changed, 9 insertions(+), 4 deletions(-)

diff --git a/nao_lola_client/src/connection.cpp b/nao_lola_client/src/connection.cpp
index a7ae000..f84f175 100644
--- a/nao_lola_client/src/connection.cpp
+++ b/nao_lola_client/src/connection.cpp
@@ -21,10 +21,15 @@ Connection::Connection()
 : io_service(), socket(io_service), logger(rclcpp::get_logger("lola connection"))
 {
   boost::system::error_code ec;
-  socket.connect(ENDPOINT, ec);
-  if (ec) {
-    RCLCPP_ERROR(logger, (std::string{"Could not connect to LoLA: "} + ec.message()).c_str());
-  }
+  rclcpp::Clock clock;
+  do {
+    socket.connect(ENDPOINT, ec);
+    if (ec) {
+      RCLCPP_WARN_SKIPFIRST_THROTTLE(
+        logger, clock, 1000,
+        (std::string{"Could not connect to LoLA, retrying: "} + ec.message()).c_str());
+    }
+  } while (ec && rclcpp::ok());
 }
 
 std::array<char, MSGPACK_READ_LENGTH> Connection::receive()