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adding timeout for action client initialization #3029

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merged 2 commits into from
Jun 22, 2022
Merged

adding timeout for action client initialization #3029

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fa88917
adding timeout for action client initialization
vinnnyr Jun 21, 2022
56e276f
adding constant 1s timeout, catching exception
vinnnyr Jun 21, 2022
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9 changes: 8 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,14 @@ class BtActionNode : public BT::ActionNodeBase

// Make sure the server is actually there before continuing
RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
action_client_->wait_for_action_server();
static constexpr std::chrono::milliseconds wait_for_server_timeout =
std::chrono::milliseconds(1000);
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hardcoded to a reasonable 1s now

if (!action_client_->wait_for_action_server(wait_for_server_timeout)) {
RCLCPP_ERROR(
node_->get_logger(), "\"%s\" action server not available after waiting for %li ms",
action_name.c_str(), wait_for_server_timeout.count());
throw std::runtime_error("Action server not available");
}
}

/**
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8 changes: 7 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Expand Up @@ -172,7 +172,13 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
std::istreambuf_iterator<char>());

// Create the Behavior Tree from the XML input
tree_ = bt_->createTreeFromText(xml_string, blackboard_);
try {
tree_ = bt_->createTreeFromText(xml_string, blackboard_);
} catch (const std::exception & e) {
RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
return false;
}

topic_logger_ = std::make_unique<RosTopicLogger>(client_node_, tree_);

current_bt_xml_filename_ = filename;
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2 changes: 1 addition & 1 deletion nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Expand Up @@ -76,7 +76,7 @@ NavigateThroughPosesNavigator::goalReceived(ActionT::Goal::ConstSharedPtr goal)

if (!bt_action_server_->loadBehaviorTree(bt_xml_filename)) {
RCLCPP_ERROR(
logger_, "BT file not found: %s. Navigation canceled.",
logger_, "Error loading XML file: %s. Navigation canceled.",
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bt_xml_filename.c_str());
return false;
}
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