From f86f879633b93938afa5549b32de45e63713e30f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jos=C3=A9=20Enrique=20Dom=C3=ADnguez?=
 <jdominguez@iri.upc.edu>
Date: Wed, 15 Jan 2020 14:25:27 +0100
Subject: [PATCH] Tracking navigation updating goal if track moves

---
 src/xml/nav_main_tree.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/xml/nav_main_tree.xml b/src/xml/nav_main_tree.xml
index b206f39..50b0e57 100644
--- a/src/xml/nav_main_tree.xml
+++ b/src/xml/nav_main_tree.xml
@@ -25,7 +25,7 @@
     <BehaviorTree ID="go_to_goal">
       <Sequence>
         <Action ID="set_goal_frame" frame_id="/map"/>
-        <Timeout msec="6000000">
+        <Timeout msec="600000">
           <RetryUntilSuccesful num_attempts="3">
             <Action ID="async_go_to_pose" x="{x}" y="{y}" yaw="{yaw}" heading_tol="{heading_tol}" x_y_pos_tol="{x_y_pos_tol}" update_goal="{update_goal}"/>
           </RetryUntilSuccesful>
-- 
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