Msgs with dlc < 8 would fail. Fixed. #38
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The
datamember of thecan_msgs/Framemessage is currently a fixed-length array of 8 bytes. However, theAS::CAN::CanMsguses astd::vector<uint8_t>for it's payload storage so we only allocate the bytes we need. Thewrite()function inkvaser_can_bridgewas passing the DLC correctly but it would always write all 8 bytes to the vector. Sincekvaser_interfacenow checks the DLC against the vector size, it would fail if the DLC wasn't 8. This PR fixes this issue and also passes the DLC up directly when reading (sincecan_msgs/Framedoesn't support CAN FD and CAN_FD messages are ignored for ROS publishing right now anyway) instead of using the vector size as the DLC.