From 59da63ba2c07407181e2209733d0c83434e05cba Mon Sep 17 00:00:00 2001
From: Julia Schatz <schat127@umn.edu>
Date: Fri, 21 Feb 2020 16:45:25 -0600
Subject: [PATCH] Fix consistent bridge crash

Solution from https://github.com/ros-industrial/ros_canopen/issues/285
---
 .../include/socketcan_interface/socketcan.h          | 12 ++++++++++--
 1 file changed, 10 insertions(+), 2 deletions(-)

diff --git a/socketcan_interface/include/socketcan_interface/socketcan.h b/socketcan_interface/include/socketcan_interface/socketcan.h
index 10ae56db3..2356b4f5a 100644
--- a/socketcan_interface/include/socketcan_interface/socketcan.h
+++ b/socketcan_interface/include/socketcan_interface/socketcan.h
@@ -203,9 +203,17 @@ class SocketCANInterface : public AsioDriver<boost::asio::posix::stream_descript
                 input_.id = frame_.can_id & CAN_EFF_MASK;
                 input_.is_error = 1;
 
-                ROSCANOPEN_ERROR("socketcan_interface", "internal error: " << input_.id);
+                //ROSCANOPEN_ERROR("socketcan_interface", "internal error: " << input_.id);
                 setInternalError(input_.id);
-                setNotReady();
+                //setNotReady();
+                ROSCANOPEN_ERROR("error: " << input_.id);
+                if (frame_.can_id & CAN_ERR_LOSTARB ||
+                    frame_.can_id & CAN_ERR_CRTL)
+                {
+                  ROSCANOPEN_WARN("warn: ignoring arbitration (2) or controller (4) error");
+                } else {
+                  setNotReady();
+                }
 
             }else{
                 input_.is_extended = (frame_.can_id & CAN_EFF_FLAG) ? 1 :0;