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]>
savalena · Nov 20, 2023 · 356d6b1 · 356d6b1
1 parent 277886e
commit 356d6b1
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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
+    wait_for_service_timeout: 1000
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:

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
+    wait_for_service_timeout: 1000
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:

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
+    wait_for_service_timeout: 1000
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:

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
+    wait_for_service_timeout: 1000
     action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose: