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Use correct timeout when checking future in bt_servcie_node #3087

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Jul 22, 2022
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Use correct timeout when checking future in bt_servcie_node #3087

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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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());
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