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Add cancel timeout when cancelling actions (backport Kilted) #5906

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Merged
SteveMacenski merged 2 commits into from
Jan 27, 2026
Merged

Add cancel timeout when cancelling actions (backport Kilted) #5906

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34b21a4
Add cancel timeout when cancelling actions (backport Jazzy)
mini-1235 Jan 27, 2026
7762016
Declare parameter
mini-1235 Jan 27, 2026
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6 changes: 5 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ class BtActionNode : public BT::ActionNodeBase
auto bt_loop_duration =
config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
getInputOrBlackboard("server_timeout", server_timeout_);
getInputOrBlackboard("cancel_timeout", cancel_timeout_);
wait_for_service_timeout_ =
config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");

Expand Down Expand Up @@ -335,7 +336,7 @@ class BtActionNode : public BT::ActionNodeBase
"Failed to cancel action server for %s", action_name_.c_str());
}

if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=
if (callback_group_executor_.spin_until_future_complete(future_result, cancel_timeout_) !=
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(
Expand Down Expand Up @@ -486,6 +487,9 @@ class BtActionNode : public BT::ActionNodeBase
// new action goal is sent or canceled
std::chrono::milliseconds server_timeout_;

// The timeout value when cancelling actions during halt
std::chrono::milliseconds cancel_timeout_;

// The timeout value for BT loop execution
std::chrono::milliseconds max_timeout_;

Expand Down
3 changes: 3 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
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Expand Up @@ -281,6 +281,9 @@ class BtActionServer
// Default timeout value while waiting for response from a server
std::chrono::milliseconds default_server_timeout_;

// Default timeout value when cancelling actions during node halt
std::chrono::milliseconds default_cancel_timeout_;

// The timeout value for waiting for a service to response
std::chrono::milliseconds wait_for_service_timeout_;

Expand Down
8 changes: 8 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Expand Up @@ -67,6 +67,9 @@ BtActionServer<ActionT>::BtActionServer(
if (!node->has_parameter("default_server_timeout")) {
node->declare_parameter("default_server_timeout", 20);
}
if (!node->has_parameter("default_cancel_timeout")) {
node->declare_parameter("default_cancel_timeout", 50);
}
if (!node->has_parameter("always_reload_bt_xml")) {
node->declare_parameter("always_reload_bt_xml", false);
}
Expand Down Expand Up @@ -178,6 +181,9 @@ bool BtActionServer<ActionT>::on_configure()
int default_server_timeout;
node->get_parameter("default_server_timeout", default_server_timeout);
default_server_timeout_ = std::chrono::milliseconds(default_server_timeout);
int default_cancel_timeout;
node->get_parameter("default_cancel_timeout", default_cancel_timeout);
default_cancel_timeout_ = std::chrono::milliseconds(default_cancel_timeout);
int wait_for_service_timeout;
node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
Expand All @@ -195,6 +201,7 @@ bool BtActionServer<ActionT>::on_configure()
// Put items on the blackboard
blackboard_->set<rclcpp::Node::SharedPtr>("node", client_node_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("cancel_timeout", default_cancel_timeout_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_); // NOLINT
blackboard_->set<std::chrono::milliseconds>(
"wait_for_service_timeout",
Expand Down Expand Up @@ -296,6 +303,7 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
auto & blackboard = subtree->blackboard;
blackboard->set("node", client_node_);
blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
blackboard->set<std::chrono::milliseconds>("cancel_timeout", default_cancel_timeout_);
blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
blackboard->set<std::chrono::milliseconds>(
"wait_for_service_timeout",
Expand Down
4 changes: 3 additions & 1 deletion nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
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Expand Up @@ -147,7 +147,9 @@ class FibonacciAction : public nav2_behavior_tree::BtActionNode<test_msgs::actio

BT::NodeStatus on_cancelled() override
{
config().blackboard->set("sequence", result_.result->sequence);
if (result_.result) {
config().blackboard->set("sequence", result_.result->sequence);
}
config().blackboard->set("on_cancelled_triggered", true);
return BT::NodeStatus::SUCCESS;
}
Expand Down
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