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Add timeout on spin to avoid infinite loop #40

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Merged
merged 1 commit into from
Dec 4, 2023
Merged

Add timeout on spin to avoid infinite loop #40

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2 changes: 1 addition & 1 deletion behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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]",
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