Merge pull request #32 from umdlife/feat/expose-timeout

facontidavide · web-flow · commit 07710f483e82 · 2023-11-16T12:24:37.000+01:00
Expose parameter to control timeout on wait_for call
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -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:
 
@@ -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
@@ -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.",
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
@@ -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:
 
@@ -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");
@@ -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.",
diff --git a/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp b/behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp
@@ -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);
 };
 
 }

Original file line number	Diff line number	Diff line change
`@@ -34,8 +34,9 @@ struct RosNodeParams`
`34`	`34`	`// - RosTopicSubNode: name of the topic to subscribe to`
`35`	`35`	`std::string default_port_value;`
`36`	`36`
`37`		`- // parameter used only by service client and action clients`
	`37`	`+ // parameters used only by service client and action clients`
`38`	`38`	`std::chrono::milliseconds server_timeout = std::chrono::milliseconds(1000);`
	`39`	`+ std::chrono::milliseconds wait_for_server_timeout = std::chrono::milliseconds(500);`
`39`	`40`	`};`
`40`	`41`
`41`	`42`	`}`