From dacf3a96f27c3a78dcc4759e73aa881841dbb980 Mon Sep 17 00:00:00 2001 From: vicmassy Date: Mon, 4 Dec 2023 15:31:47 +0100 Subject: [PATCH] Add timeout to spin to avoid infinite loop --- behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp index d9c0a9b..f51e29c 100644 --- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp +++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp @@ -437,7 +437,7 @@ template 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]",