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Expose parameter to control timeout on wait_for call #32

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Merged
facontidavide merged 1 commit into from
Nov 16, 2023
Merged

Expose parameter to control timeout on wait_for call #32

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6 changes: 4 additions & 2 deletions behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,6 +171,7 @@ class RosActionNode : public BT::ActionNodeBase
std::string prev_action_name_;
bool action_name_may_change_ = false;
const std::chrono::milliseconds server_timeout_;
const std::chrono::milliseconds wait_for_server_timeout_;

private:

Expand Down Expand Up @@ -199,7 +200,8 @@ template<class T> inline
const RosNodeParams &params):
BT::ActionNodeBase(instance_name, conf),
node_(params.nh),
server_timeout_(params.server_timeout)
server_timeout_(params.server_timeout),
wait_for_server_timeout_(params.wait_for_server_timeout)
{
// Three cases:
// - we use the default action_name in RosNodeParams when port is empty
Expand Down Expand Up @@ -260,7 +262,7 @@ template<class T> inline

prev_action_name_ = action_name;

bool found = action_client_->wait_for_action_server(server_timeout_);
bool found = action_client_->wait_for_action_server(wait_for_server_timeout_);
if(!found)
{
RCLCPP_ERROR(node_->get_logger(), "%s: Action server with name '%s' is not reachable.",
Expand Down
6 changes: 4 additions & 2 deletions behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
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Expand Up @@ -143,6 +143,7 @@ class RosServiceNode : public BT::ActionNodeBase
std::string prev_service_name_;
bool service_name_may_change_ = false;
const std::chrono::milliseconds service_timeout_;
const std::chrono::milliseconds wait_for_service_timeout_;

private:

Expand Down Expand Up @@ -170,7 +171,8 @@ template<class T> inline
const RosNodeParams& params):
BT::ActionNodeBase(instance_name, conf),
node_(params.nh),
service_timeout_(params.server_timeout)
service_timeout_(params.server_timeout),
wait_for_service_timeout_(params.wait_for_server_timeout)
{
// check port remapping
auto portIt = config().input_ports.find("service_name");
Expand Down Expand Up @@ -225,7 +227,7 @@ template<class T> inline
service_client_ = node_->create_client<T>(service_name, rmw_qos_profile_services_default, callback_group_);
prev_service_name_ = service_name;

bool found = service_client_->wait_for_service(service_timeout_);
bool found = service_client_->wait_for_service(wait_for_service_timeout_);
if(!found)
{
RCLCPP_ERROR(node_->get_logger(), "%s: Service with name '%s' is not reachable.",
Expand Down
3 changes: 2 additions & 1 deletion behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp
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Expand Up @@ -34,8 +34,9 @@ struct RosNodeParams
// - RosTopicSubNode: name of the topic to subscribe to
std::string default_port_value;

// parameter used only by service client and action clients
// parameters used only by service client and action clients
std::chrono::milliseconds server_timeout = std::chrono::milliseconds(1000);
std::chrono::milliseconds wait_for_server_timeout = std::chrono::milliseconds(500);
};

}