From 356d6b14e5276f70538fee66701039ac65c5bd67 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Adam=20Ga=C5=82ecki?= <73710544+embeddedadam@users.noreply.github.com> Date: Mon, 20 Nov 2023 20:02:03 +0100 Subject: [PATCH] WIP: Make BT nodes have configurable wait times. (#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. [#3920] Signed-off-by: Adam Galecki * 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. [#3920] Signed-off-by: Adam Galecki * 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 * Fix formatting errors Signed-off-by: Adam Galecki * Update system tests to match new parameter Signed-off-by: Adam Galecki --------- Signed-off-by: Adam Galecki --- nav2_bringup/params/nav2_multirobot_params_1.yaml | 1 + nav2_bringup/params/nav2_multirobot_params_2.yaml | 1 + nav2_bringup/params/nav2_multirobot_params_all.yaml | 1 + nav2_bringup/params/nav2_params.yaml | 1 + 4 files changed, 4 insertions(+) diff --git a/nav2_bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/params/nav2_multirobot_params_1.yaml index 692ca6ec803..d0bdce21db2 100644 --- 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 index 2d57aef3830..cd51b1332e4 100644 --- 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 index 6f7e66cd617..b6e5712092f 100644 --- 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 index 112a1de98b1..e70fa9216cd 100644 --- 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: