Add costmap update timeout (#662)

* Add costmap update timeout in controller and planner

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>

* Remove [

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>

* Update configuration/packages/configuring-planner-server.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

* Update configuration/packages/configuring-controller-server.rst

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>

---------

Signed-off-by: Maurice-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

Author: mini-1235

configuration/packages/configuring-controller-server.rst

@@ -25,6 +25,17 @@ Parameters
   Description
     Frequency to run controller (Hz).
 
+:costmap_update_timeout:
+
+  ============== ========
+  Type           Default
+  -------------- --------
+  double         0.3
+  ============== ========
+
+  Description
+    The timeout value (seconds) for the costmap to be fully updated before a control effort can be computed.
+
 :use_realtime_priority:
 
   ============== =======
@@ -264,6 +275,7 @@ Example
       ros__parameters:
         use_sim_time: True
         controller_frequency: 20.0
+        costmap_update_timeout: 0.3
         min_x_velocity_threshold: 0.001
         min_y_velocity_threshold: 0.5
         min_theta_velocity_threshold: 0.001

configuration/packages/configuring-planner-server.rst

@@ -44,7 +44,7 @@ Parameters
   ============== ========
   Type           Default
   -------------- --------
-  double         [20.0]
+  double         20.0
   ============== ========
 
   Description
@@ -75,6 +75,17 @@ Parameters
   Description
     The lifecycle node bond mechanism publishing period (on the /bond topic). Disabled if inferior or equal to 0.0.
 
+:costmap_update_timeout:
+
+  ============== ========
+  Type           Default
+  -------------- --------
+  double         1.0
+  ============== ========
+
+  Description
+    The timeout value (seconds) for the costmap to be fully updated before a planning request.
+
 Default Plugins
 ***************
 
@@ -93,6 +104,7 @@ Example
     planner_server:
       ros__parameters:
         expected_planner_frequency: 20.0
+        costmap_update_timeout: 1.0
         planner_plugins: ['GridBased']
         GridBased:
           plugin: 'nav2_navfn_planner::NavfnPlanner' # In Iron and older versions, "/" was used instead of "::"