Use incremental timeouts in spin_until_future_calls during BT executi…

…on to handle large server timeouts (ros-navigation#2320) * Use incremental timeouts in spin_until_future_calls during BT execution Signed-off-by: Sarthak Mittal <[email protected]> * Fix tests Signed-off-by: Sarthak Mittal <[email protected]> * Fix tests * Remove unnecessary timeout_ variable Signed-off-by: Sarthak Mittal <[email protected]> * Reset goal_sent on terminal conditions Signed-off-by: Sarthak Mittal <[email protected]> * Rename variables and refactor timeout logic Signed-off-by: Sarthak Mittal <[email protected]> * Fix timeout logic and add tests Signed-off-by: Sarthak Mittal <[email protected]> * Updates tests to ensure previous node state does not leak into new cycles Signed-off-by: Sarthak Mittal <[email protected]> * Change goal_handle_ checks to future_goal_handle_ Signed-off-by: Sarthak Mittal <[email protected]> * Remove goal handle reset in halt * Update server_timeout to 20ms and inherit BtServiceNode from BT::ActionNodeBase Signed-off-by: Sarthak Mittal <[email protected]>
savalena · May 13, 2021 · 23754d2 · 23754d2
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commit 23754d2
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diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_1.yaml
@@ -53,6 +53,8 @@ bt_navigator:
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml

diff --git a/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml b/nav2_bringup/bringup/params/nav2_multirobot_params_2.yaml
@@ -53,6 +53,8 @@ bt_navigator:
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
     # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
     # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
     # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml

diff --git a/nav2_bringup/bringup/params/nav2_params.yaml b/nav2_bringup/bringup/params/nav2_params.yaml
@@ -53,6 +53,8 @@ bt_navigator:
     global_frame: map
     robot_base_frame: base_link
     odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
     enable_groot_monitoring: True
     groot_zmq_publisher_port: 1666
     groot_zmq_server_port: 1667