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Add halt timeout when cancelling actions #858

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Merged
SteveMacenski merged 3 commits into from
Jan 26, 2026
Merged

Add halt timeout when cancelling actions #858

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67f274d
Add halt timeout when cancelling actions
mini-1235 Jan 26, 2026
3ec9c69
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mini-1235 Jan 26, 2026
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mini-1235 Jan 26, 2026
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1 change: 1 addition & 0 deletions .codespell_words
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Expand Up @@ -4,3 +4,4 @@ implementors
retuned
segway
lightening
statics
14 changes: 14 additions & 0 deletions configuration/packages/configuring-bt-navigator.rst
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Expand Up @@ -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:

==== =======
Expand Down Expand Up @@ -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
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7 changes: 7 additions & 0 deletions migration/Kilted.rst
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Expand Up @@ -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.
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