fixup! fixup! fixup! fixup! fixup! fixup! fixup! fixup! fixup! fixup!…

… fixup! fixup! Add ros parameter for bond timeout
Ekumen-OS · Feb 13, 2025 · 3fb15a7 · 3fb15a7
1 parent c75ecff
commit 3fb15a7
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/beluga_amcl/src/ros2_common.cpp b/beluga_amcl/src/ros2_common.cpp
@@ -482,7 +482,9 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn BaseAM
         "bond", get_name(), shared_from_this(), on_bond_broken_callback, on_bond_formed_callback);
     bond_->setHeartbeatPeriod(0.10);
     const auto heartbeat_timeout_value = get_parameter("bond_timeout").as_double();
-    bond_->setConnectTimeout(heartbeat_timeout_value);
+    const auto connect_timeout_value =
+        std::max(heartbeat_timeout_value, 10.0);  // we don't want to shorten the default 10 second connection timeout
+    bond_->setConnectTimeout(connect_timeout_value);
     bond_->setHeartbeatTimeout(heartbeat_timeout_value);
     bond_->start();
     RCLCPP_INFO(