WIP: Make BT nodes have configurable wait times. (ros-navigation#3960)

* Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <[email protected]> * Make BT nodes have configurable wait times. Previous solution provided hardcoded 1s value. Right now the value can be configured for BT Action, Cancel and Service nodes. [ros-navigation#3920] Signed-off-by: Adam Galecki <[email protected]> * Fix typos, linting errors and value type from float to int * Fix extra underscores * Fix extra underscore * Update unit tests with blackboard parameter Signed-off-by: Adam Galecki <[email protected]> * Fix formatting errors Signed-off-by: Adam Galecki <[email protected]> * Update system tests to match new parameter Signed-off-by: Adam Galecki <[email protected]> --------- Signed-off-by: Adam Galecki <[email protected]>
Marc-Morcos · Jul 4, 2024 · 14494d7 · 14494d7
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commit 14494d7
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diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -471,6 +471,9 @@ class BtActionNode : public BT::ActionNodeBase
   // The timeout value for waiting for a service to response
   std::chrono::milliseconds wait_for_service_timeout_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the action server acknowledgement when a new goal is sent
   std::shared_ptr<std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>
   future_goal_handle_;

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -257,6 +257,9 @@ class BtServiceNode : public BT::ActionNodeBase
   // The timeout value for waiting for a service to response
   std::chrono::milliseconds wait_for_service_timeout_;
 
+  // The timeout value for waiting for a service to response
+  std::chrono::milliseconds wait_for_service_timeout_;
+
   // To track the server response when a new request is sent
   std::shared_future<typename ServiceT::Response::SharedPtr> future_result_;
   bool request_sent_{false};