From 78ee135e65bf07beb1135c903255067990defb7a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Mehmet=20Emin=20BA=C5=9EO=C4=9ELU?=
 <mehmeteminbasoglu@hotmail.com>
Date: Fri, 23 Feb 2024 13:41:36 +0300
Subject: [PATCH] fix(velodyne): don't get invalid angle params if remove is
 inactive

---
 nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
index 2beb9c24e..6672eec1d 100644
--- a/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
+++ b/nebula_ros/src/velodyne/velodyne_decoder_ros_wrapper.cpp
@@ -262,7 +262,7 @@ Status VelodyneDriverRosWrapper::GetParameters(
     }
   }
 
-  {
+  if (sensor_configuration.invalid_point_remove) {
     rcl_interfaces::msg::ParameterDescriptor descriptor;
     descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING;
     descriptor.read_only = true;