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chore(nav2_behavior_tree): log actual wait period in bt_action_node timeout error message #4178

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Mar 13, 2024
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chore(nav2_behavior_tree): log actual wait period in bt_action_node timeout error message #4178

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5 changes: 3 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,8 +97,9 @@ class BtActionNode : public BT::ActionNodeBase
RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
if (!action_client_->wait_for_action_server(wait_for_service_timeout_)) {
RCLCPP_ERROR(
node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
action_name.c_str());
node_->get_logger(), "\"%s\" action server not available after waiting for %f s",
action_name.c_str(),
wait_for_service_timeout_.count() / 1000.0);
throw std::runtime_error(
std::string("Action server ") + action_name +
std::string(" not available"));
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