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Let a run say how long the bridge waits for a task #2

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Merged
HanielUlises merged 1 commit into from
Sep 22, 2026
Merged

Let a run say how long the bridge waits for a task #2

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7 changes: 6 additions & 1 deletion eplansys_rmf_demo/launch/survey_rmf_launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
}])

Expand Down Expand Up @@ -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 '
Expand Down