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Fix goal updater for CI (backport #4558) #4784

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Merged
SteveMacenski merged 2 commits into from
Feb 4, 2025
Merged

Fix goal updater for CI (backport #4558) #4784

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3c3027a
fix CI (#4558)
SteveMacenski Jul 25, 2024
eb4a9af
Merge remote-tracking branch 'nav2/jazzy' into mergify/bp/jazzy/pr-4558
tonynajjar Jan 10, 2025
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4 changes: 3 additions & 1 deletion nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,9 @@ inline BT::NodeStatus GoalUpdater::tick()

getInput("input_goal", goal);

callback_group_executor_.spin_all(std::chrono::milliseconds(50));
// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_all(std::chrono::milliseconds(1));
callback_group_executor_.spin_all(std::chrono::milliseconds(49));

if (last_goal_received_.header.stamp != rclcpp::Time(0)) {
auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);
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