Set a non-infinite default timeout in CurrentState stage (#491)

Co-authored-by: Mario Prats <mario.prats@picknik.ai>
This commit is contained in:
Sebastian Jahr 2023-10-06 18:04:25 +02:00 committed by Robert Haschke
parent 48ca3d46f6
commit b0f388a88f

View File

@ -35,6 +35,8 @@
/* Authors: Michael Goerner, Luca Lach, Robert Haschke */
#include <chrono>
#include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/storage.h>
#include <moveit_msgs/GetPlanningScene.h>
@ -47,11 +49,14 @@ namespace moveit {
namespace task_constructor {
namespace stages {
using namespace std::chrono_literals;
constexpr std::chrono::duration<double> DEFAULT_TIMEOUT = 3s;
CurrentState::CurrentState(const std::string& name) : Generator(name) {
auto& p = properties();
Property& timeout = p.property("timeout");
timeout.setDescription("max time to wait for get_planning_scene service");
timeout.setValue(-1.0);
timeout.setValue(DEFAULT_TIMEOUT.count());
}
void CurrentState::init(const moveit::core::RobotModelConstPtr& robot_model) {