Merge pull request #40 from umdlife/hotfix/add-timeout-on-spin

facontidavide · web-flow · commit ff73f8e17703 · 2023-12-04T16:44:37.000+01:00
Add timeout on spin to avoid infinite loop
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -439,7 +439,7 @@ 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
`@@ -439,7 +439,7 @@ template<class T> inline`
`439`	`439`	`prev_action_name_.c_str());`
`440`	`440`	`}`
`441`	`441`
`442`		`- if (callback_group_executor_.spin_until_future_complete(future_result) !=`
	`442`	`+ if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=`
`443`	`443`	`rclcpp::FutureReturnCode::SUCCESS)`
`444`	`444`	`{`
`445`	`445`	`RCLCPP_ERROR( node_->get_logger(), "Failed to get result call failed :( for [%s]",`