SERVICE_CALL_TIMEOUT = 1 second is harsh 🥵 (#3382)

ymollard · web-flow · commit f13ebcc91374 · 2025-03-30T10:19:18.000-04:00
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -57,7 +57,8 @@
 #include <moveit/utils/logger.hpp>
 
 static const rclcpp::Duration CONTROLLER_INFORMATION_VALIDITY_AGE = rclcpp::Duration::from_seconds(1.0);
-static const double SERVICE_CALL_TIMEOUT = 1.0;
+// TODO: Create a ROS parameter allowing to customize this default timeout
+static constexpr double SERVICE_CALL_TIMEOUT = 3.0;
 
 namespace moveit_ros_control_interface
 {

Original file line number	Diff line number	Diff line change
`@@ -57,7 +57,8 @@`
`57`	`57`	`#include <moveit/utils/logger.hpp>`
`58`	`58`
`59`	`59`	`static const rclcpp::Duration CONTROLLER_INFORMATION_VALIDITY_AGE = rclcpp::Duration::from_seconds(1.0);`
`60`		`-static const double SERVICE_CALL_TIMEOUT = 1.0;`
	`60`	`+// TODO: Create a ROS parameter allowing to customize this default timeout`
	`61`	`+static constexpr double SERVICE_CALL_TIMEOUT = 3.0;`
`61`	`62`
`62`	`63`	`namespace moveit_ros_control_interface`
`63`	`64`	`{`