AMRNAV-5586: Wait BT node doesn't work with double values

[papertowel123]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	ticket
Primary OS tested on	Ubuntu
Robotic platform tested on

---

Description of contribution in a few bullet points

wait_duration port for Wait node is an integer, so if we pass something like 1.3 or 2.42 than it will automatically cast to nearest integer value, so i changed type of this port from int to double.

Description of documentation updates required from your changes

---

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[HovorunB]

The goal type that is sent to "Wait" server is nav2_msgs::action::Wait.
nav2_msgs::action::Wait::time::sec is also an integer. see

navigation2/nav2_msgs/action/Wait.action

Line 2 in f91f3b3

builtin_interfaces/Duration time

and
https://docs.ros2.org/galactic/api/builtin_interfaces/msg/Duration.html

I think we should also do some conversion like splitting the double value into seconds and nanoseconds

[papertowel123]

The goal type that is sent to "Wait" server is nav2_msgs::action::Wait. nav2_msgs::action::Wait::time::sec is also an integer. see

navigation2/nav2_msgs/action/Wait.action

Line 2 in f91f3b3

builtin_interfaces/Duration time

and
https://docs.ros2.org/galactic/api/builtin_interfaces/msg/Duration.html
I think we should also do some conversion like splitting the double value into seconds and nanoseconds

will do

[papertowel123]

The goal type that is sent to "Wait" server is nav2_msgs::action::Wait. nav2_msgs::action::Wait::time::sec is also an integer. see

navigation2/nav2_msgs/action/Wait.action

Line 2 in f91f3b3

builtin_interfaces/Duration time

and
https://docs.ros2.org/galactic/api/builtin_interfaces/msg/Duration.html
I think we should also do some conversion like splitting the double value into seconds and nanoseconds

done

[HovorunB]

Have you tried using the original type, but splitting the double value into two integer values for seconds and nanoseconds?
For example if we want to wait 3.5 seconds then we will do something like
goal_.time.sec = 3;
goal_.time.nanosec = int(0.5 * 10^9);

Its better to use existing ros2 interfaces when we can

[papertowel123]

oh, ok, I see what u mean

[papertowel123]

done
and also, maybe we should use macros instead of pow(10, 9)? smth like this:

#ifndef NANO
#define NANO 1000000000

[HovorunB]

If there were more places in this file where we need this macro then it would be a good idea! But we only have one so i don't think its really necessary

[HovorunB]

Looks good! But please test it a little with double values to check if it waits. And change the base branch from main to iron :)