Merge pull request #40 from umdlife/hotfix/add-timeout-on-spin

Add timeout on spin to avoid infinite loop
BehaviorTree · Dec 4, 2023 · ff73f8e · ff73f8e
2 parents d701cc8 + dacf3a9
commit ff73f8e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -439,7 +439,7 @@ template<class T> inline
                  prev_action_name_.c_str());
   }
 
-  if (callback_group_executor_.spin_until_future_complete(future_result) !=
+  if (callback_group_executor_.spin_until_future_complete(future_result, server_timeout_) !=
       rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR( node_->get_logger(), "Failed to get result call failed :( for [%s]",