Add timeout to spin to avoid infinite loop

vicmassy · vicmassy · commit dacf3a96f27c · 2023-12-04T15:31:47.000+01:00
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -437,7 +437,7 @@ template<class T> inline
                  prev_action_name_.c_str());
   }
 
-  if (callback_group_executor_.spin_until_future_complete(future_result) !=
+  if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=
       rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR( node_->get_logger(), "Failed to get result call failed :( for [%s]",

Original file line number	Diff line number	Diff line change
`@@ -437,7 +437,7 @@ template<class T> inline`
`437`	`437`	`prev_action_name_.c_str());`
`438`	`438`	`}`
`439`	`439`
`440`		`- if (callback_group_executor_.spin_until_future_complete(future_result) !=`
	`440`	`+ if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=`
`441`	`441`	`rclcpp::FutureReturnCode::SUCCESS)`
`442`	`442`	`{`
`443`	`443`	`RCLCPP_ERROR( node_->get_logger(), "Failed to get result call failed :( for [%s]",`