Add halt timeout when cancelling actions (ros-navigation#858)

* Add halt timeout when cancelling actions

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

* Precommit

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

* Rename

Signed-off-by: Maurice <mauricepurnawan@gmail.com>

---------

Signed-off-by: Maurice <mauricepurnawan@gmail.com>
Signed-off-by: Jaerak Son <sjr9017@naver.com>

Author: mini-1235

.codespell_words

@@ -4,3 +4,4 @@ implementors
 retuned
 segway
 lightening
+statics

configuration/packages/configuring-bt-navigator.rst

@@ -113,6 +113,18 @@ 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.
 
+:default_cancel_timeout:
+
+  ==== =======
+  Type Default
+  ---- -------
+  int  50
+  ==== =======
+
+  Description
+    Default timeout (in seconds) for BT action node cancellation requests during node halt.
+    This value will be overwritten for a BT node if the input port "cancel_timeout" is provided.
+
 :wait_for_service_timeout:
 
   ==== =======
@@ -406,6 +418,8 @@ Example
         robot_base_frame: base_link
         transform_tolerance: 0.1
         filter_duration: 0.3
+        default_server_timeout: 20
+        default_cancel_timeout: 50
         introspection_mode: "disabled"
         default_nav_to_pose_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_to_pose_bt.xml
         default_nav_through_poses_bt_xml: replace/with/path/to/bt.xml # or $(find-pkg-share my_package)/behavior_tree/my_nav_through_poses_bt.xml

migration/Kilted.rst

@@ -789,3 +789,10 @@ Key parameters:
 This goal checker is particularly useful for applications requiring precise alignment along specific axes, such as docking operations or warehouse navigation where lateral precision differs from forward/backward precision.
 
 See :ref:`configuring_nav2_controller_axis_goal_checker_plugin` for full configuration details.
+
+New default_cancel_timeout parameter in bt_navigator
+----------------------------------------------------
+
+In `PR 5895 <https://github.com/ros-navigation/navigation2/pull/5895>`_, a new `default_cancel_timeout` parameter was introduced to address timeout issues during action cancellation, such as ``Failed to get result for follow_path in node halt!``.
+
+The default value is set to `50` milliseconds, and should be adjusted based on the planning time and overall system performance.