From aa8a9e3a06293122e8d2fc5741de1f08a64d3b1a Mon Sep 17 00:00:00 2001
From: Jacob Dahl <dahl.jakejacob@gmail.com>
Date: Thu, 30 May 2024 12:00:22 -0600
Subject: [PATCH] laser scan subscription optional

---
 src/modules/simulation/gz_bridge/GZBridge.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
index 117040555a..3464c62869 100644
--- a/src/modules/simulation/gz_bridge/GZBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -196,12 +196,11 @@ int GZBridge::init()
 		return PX4_ERROR;
 	}
 
-	// Laser Scan
+	// Laser Scan: optional
 	std::string laser_scan_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/link/sensor/lidar_2d_v2/scan";
 
 	if (!_node.Subscribe(laser_scan_topic, &GZBridge::laserScanCallback, this)) {
-		PX4_ERR("failed to subscribe to %s", laser_scan_topic.c_str());
-		return PX4_ERROR;
+		PX4_WARN("failed to subscribe to %s", laser_scan_topic.c_str());
 	}
 
 #if 0