Expose action server result timeout as a parameter in bt navigator se…

…rvers (ros-navigation#3787) * Expose action server default timeout in bt navigator servers * typo * duplicated comment * Expose result timeout in other actions * Proper timeout in bt node * Change default timeouts and remove comments * Remove comment in params file * uncrustify controller server
savalena · Sep 9, 2023 · ff09f30 · ff09f30
1 parent 29d00f3
commit ff09f30
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diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml
@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -277,6 +278,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

diff --git a/nav2_bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/params/nav2_multirobot_params_2.yaml
@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -276,6 +277,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

diff --git a/nav2_bringup/params/nav2_multirobot_params_all.yaml b/nav2_bringup/params/nav2_multirobot_params_all.yaml
@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -324,6 +325,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -320,6 +321,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"