Node dies at startup with `Unable to get output for the device : Class [0] - Id [3] : SBG_TIME_OUT`

[PerrineAguiar]

Hi We are using the sbg ros driver (ROS1) with confWithRos set to true, and we often encounters the following issue: the node dies at startup with the error message

[ERROR] [1705600023.845223066]: SBG_DRIVER - [Config] Unable to get output for the device : Class [0] - Id [3] : SBG_TIME_OUT

the Id in the message may vary, but the error is always SBG_TIME_OUT. The issue does not always happen, but quite often (~30% of the time). For now our only solution is to restart the node until it works.

Looking a bit into the code, I tried:

• increasing cmdDefaultTimeOut => did not seem to help
• increasing numTrials => seemed to slightly lower the frequency of the issue

The only workaround to solve this issue seems to be that we must set confWithRos to false and make sure our SBG Ellipse-D is configured correctly in the sbgCenter Windows tool. But this is not ideal so I was wondering if this is a known issue and if there is a proper way to fix it.