diff --git a/configuration/packages/configuring-behavior-server.rst b/configuration/packages/configuring-behavior-server.rst index 9d37530d3..bea359534 100644 --- a/configuration/packages/configuring-behavior-server.rst +++ b/configuration/packages/configuring-behavior-server.rst @@ -71,6 +71,20 @@ Behavior Server Parameters Description Frequency to run behavior plugins. +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 10.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + :transform_tolerance: ============== ============================= diff --git a/configuration/packages/configuring-bt-navigator.rst b/configuration/packages/configuring-bt-navigator.rst index ae8c98655..b6e29745e 100644 --- a/configuration/packages/configuring-bt-navigator.rst +++ b/configuration/packages/configuring-bt-navigator.rst @@ -109,6 +109,20 @@ Parameters Default timeout value (in milliseconds) while a BT action node is waiting for acknowledgement from an action server. This value will be overwritten for a BT node if the input port "server_timeout" is provided. +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 900.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + :transform_tolerance: ====== ======= ======= diff --git a/configuration/packages/configuring-controller-server.rst b/configuration/packages/configuring-controller-server.rst index 5a89e8142..aec76d6e4 100644 --- a/configuration/packages/configuring-controller-server.rst +++ b/configuration/packages/configuring-controller-server.rst @@ -24,6 +24,20 @@ Parameters Description Frequency to run controller (Hz). +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 10.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + :controller_plugins: ============== ============== diff --git a/configuration/packages/configuring-planner-server.rst b/configuration/packages/configuring-planner-server.rst index 2d61f751e..777c50e50 100644 --- a/configuration/packages/configuring-planner-server.rst +++ b/configuration/packages/configuring-planner-server.rst @@ -49,6 +49,20 @@ Parameters Description Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message. +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 10.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + Default Plugins *************** diff --git a/configuration/packages/configuring-smoother-server.rst b/configuration/packages/configuring-smoother-server.rst index d824272c0..afe5171e2 100644 --- a/configuration/packages/configuring-smoother-server.rst +++ b/configuration/packages/configuring-smoother-server.rst @@ -46,6 +46,20 @@ Smoother Server Parameters Description TF transform tolerance. +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 10.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + :robot_base_frame: ============== ============================= diff --git a/configuration/packages/configuring-waypoint-follower.rst b/configuration/packages/configuring-waypoint-follower.rst index fc6e8bb33..4a0691259 100644 --- a/configuration/packages/configuring-waypoint-follower.rst +++ b/configuration/packages/configuring-waypoint-follower.rst @@ -37,6 +37,20 @@ Parameters Description Rate to check for results from current navigation task. +:action_server_result_timeout: + + ====== ======= ======= + Type Default Unit + ------ ------- ------- + double 900.0 seconds + ====== ======= ======= + + Description + The timeout value (in seconds) for action servers to discard a goal handle if a result has not been produced. This used to default to + 15 minutes in rcl but was changed to 10 seconds in this `PR #1012 `_, which may be less than + some actions in Nav2 take to run. For most applications, this should not need to be adjusted as long as the actions within the server do not exceed this deadline. + This issue has been raised with OSRF to find another solution to avoid active goal timeouts for bookkeeping, so this is a semi-temporary workaround + :waypoint_task_executor_plugin: ============== ======================== diff --git a/migration/Iron.rst b/migration/Iron.rst index d438973ad..9952858bc 100644 --- a/migration/Iron.rst +++ b/migration/Iron.rst @@ -78,8 +78,16 @@ New node in nav2_collision_monitor: Collision Detector In this `PR #3693 `_ A new node was introduced in the nav2_collision_monitor: Collision Detector. It works similarly to the Collision Monitor, but does not affect the robot's velocity. It will only inform that data from the configured sources has been detected within the configured polygons via message to the ``collision_detector_state`` topic that might be used by any external module (e.g. switching LED or sound alarm in case of collision). +Expose action server's result timeout +************************************* + +In this `PR #3787 `_ the timeout for action server's result was exposed in all nodes having action servers. +This is because in this `PR #1012 `_ in rcl a change was introduced which makes action servers discard a goal handle if the result +is not produced within 10 seconds, when the default was set to 15 minutes before. Since some actions in Nav2 may take more than 10 seconds to complete, the user has now the ability +to set this value through the ``action_server_result_timeout`` parameter, which defaults to 15 minutes in the ``bt_navigators`` and ``waypoint_follower`` and to 10 seconds in all other nodes. + RewrittenYaml could add new parameters to YAMLs *********************************************** Now ``RewrittenYaml`` widely used in Nav2 launch-scripts, could do not only substitutions of ROS-parameters existing in original YAML, but rather additions of new parameters, that did not exist in the YAML. Certainly, these parameters should be declared for target ROS-nodes, otherwise they won't be processed in run-time. In such functionality, they should be expressed in absolute values, separated by a dot. For example, the rewrite for a ``prune_distance`` parameter of a ``FollowPath`` node will look like ``'controller_server.ros__parameters.FollowPath.prune_distance': '1.0'`` in a ``param_rewrites`` dictionary of ``RewrittenYaml()`` argument. -The change was intoroduced in the scope of `PR #3785 `_ fix. +The change was intoroduced in the scope of `PR #3785 `_ fix. \ No newline at end of file