From 775507e9079afb3a538d744c96e9fb002d8b34a3 Mon Sep 17 00:00:00 2001 From: HanielUlises Date: Tue, 22 Sep 2026 12:27:38 -0600 Subject: [PATCH] Let a run say how long the bridge waits for a task 180 seconds is the right wait for a fleet that answers. For watching what one that stops answering does to a mission it is three minutes of nothing, and the wait has to be longer than the task takes uncut or what the run measures is the clock rather than the cut. --- eplansys_rmf_demo/launch/survey_rmf_launch.py | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/eplansys_rmf_demo/launch/survey_rmf_launch.py b/eplansys_rmf_demo/launch/survey_rmf_launch.py index 74ec3b8..9e04b09 100644 --- a/eplansys_rmf_demo/launch/survey_rmf_launch.py +++ b/eplansys_rmf_demo/launch/survey_rmf_launch.py @@ -130,7 +130,7 @@ def launch_setup(context, *args, **kwargs): parameters=[{ 'task_map': map_file.name, 'websocket_port': WEBSOCKET_PORT, - 'task_timeout': 180.0, + 'task_timeout': float(LaunchConfiguration('task_timeout').perform(context)), 'channel_prefix': CHANNEL_PREFIX, }]) @@ -213,6 +213,11 @@ def generate_launch_description(): 'check', default_value='true', description='Ask the epistemic state, once the robots have ' 'stopped, whether the goal actually came out.'), + DeclareLaunchArgument( + 'task_timeout', default_value='180.0', + description='How long the bridge waits for a task it submitted ' + 'before giving up on it. Shorten it to watch what a ' + 'fleet that stops answering does to the mission.'), DeclareLaunchArgument( 'rmf', default_value='true', description='Launch the rmf_demos office fleet too. false when it '