Action result timeout

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 <https://github.com/ros2/rcl/pull/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:
 
   ============== =============================

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 <https://github.com/ros2/rcl/pull/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:
 
   ====== ======= ======= 

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 <https://github.com/ros2/rcl/pull/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:
 
   ============== ==============

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 <https://github.com/ros2/rcl/pull/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
 ***************
 

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 <https://github.com/ros2/rcl/pull/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:
 
   ============== =============================

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 <https://github.com/ros2/rcl/pull/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:
 
   ============== ========================

migration/Iron.rst

@@ -78,8 +78,16 @@ New node in nav2_collision_monitor: Collision Detector
 In this `PR #3693 <https://github.com/ros-planning/navigation2/pull/3500>`_ 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 <https://github.com/ros-planning/navigation2/pull/3787>`_ the timeout for action server's result was exposed in all nodes having action servers. 
+This is because in this `PR #1012 <https://github.com/ros2/rcl/pull/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 <https://github.com/ros-planning/navigation2/pull/3785>`_ fix.
+The change was intoroduced in the scope of `PR #3785 <https://github.com/ros-planning/navigation2/pull/3785>`_ fix.