Use correct timeout when checking future (ros-navigation#3087)

jwallace42 · Dec 14, 2022 · ee06ded · ee06ded
1 parent ffa0061
commit ee06ded
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -166,7 +166,7 @@ class BtServiceNode : public BT::ActionNodeBase
       auto timeout = remaining > bt_loop_duration_ ? bt_loop_duration_ : remaining;
 
       rclcpp::FutureReturnCode rc;
-      rc = callback_group_executor_.spin_until_future_complete(future_result_, server_timeout_);
+      rc = callback_group_executor_.spin_until_future_complete(future_result_, timeout);
       if (rc == rclcpp::FutureReturnCode::SUCCESS) {
         request_sent_ = false;
         BT::NodeStatus status = on_completion(future_result_.get());