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> -- GitLab