From 1df0666d0af565fe19e0df122fd388bfd2e700d4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?=
 <jdominguez@iri.upc.edu>
Date: Thu, 14 May 2020 12:35:44 +0200
Subject: [PATCH] Reduced time of replanning nav goal in case of preempted

---
 src/xml/nav_main_tree.xml          | 4 ++--
 src/xml/nav_with_gui_main_tree.xml | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index 1ff6145..afc4d0b 100644
--- a/src/xml/nav_main_tree.xml
+++ b/src/xml/nav_main_tree.xml
@@ -18,7 +18,7 @@
       <Sequence>
         <Action ID="set_goal_frame_nav_3d" frame_id="{frame_id}"/>
         <RetryUntilSuccesful num_attempts="3">
-          <Fallback>
+          <ReactiveFallback>
             <Sequence>
               <Timeout msec="600000">
                 <!-- Pending: choose type of navigation required (only position/orientation) -->
@@ -32,7 +32,7 @@
                 <Action ID="NOP"/>
               </Timeout>
             </Sequence>
-          </Fallback>
+          </ReactiveFallback>
         </RetryUntilSuccesful>
         <Action ID="get_current_status_nav_3d" status_code="{status}"/>
       </Sequence>
diff --git a/src/xml/nav_with_gui_main_tree.xml b/src/xml/nav_with_gui_main_tree.xml
index 26296c9..1d05673 100644
--- a/src/xml/nav_with_gui_main_tree.xml
+++ b/src/xml/nav_with_gui_main_tree.xml
@@ -30,7 +30,7 @@
       <Sequence>
         <Action ID="set_goal_frame_nav_3d" frame_id="{frame_id}"/>
         <RetryUntilSuccesful num_attempts="3">
-          <Fallback>
+          <ReactiveFallback>
             <Sequence>
               <Timeout msec="600000">
                 <!-- Pending: choose type of navigation required (only position/orientation) -->
@@ -44,7 +44,7 @@
                 <Action ID="NOP"/>
               </Timeout>
             </Sequence>
-          </Fallback>
+          </ReactiveFallback>
         </RetryUntilSuccesful>
         <Action ID="get_current_status_nav_3d" status_code="{status}"/>
       </Sequence>
-- 
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