Expose action server result timeout as a parameter in bt navigator servers (ros-navigation#3787)

* Expose action server default timeout in bt navigator servers

* typo

* duplicated comment

* Expose result timeout in other actions

* Proper timeout in bt node

* Change default timeouts and remove comments

* Remove comment in params file

* uncrustify controller server

Author: pepisg

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -149,6 +149,12 @@ bool BtActionServer<ActionT>::on_configure()
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
 
+  // set the timeout in seconds for the action server to discard goal handles if not finished
+  double action_server_result_timeout;
+  node->get_parameter("action_server_result_timeout", action_server_result_timeout);
+  rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
+  server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
+
   action_server_ = std::make_shared<ActionServer>(
     node->get_node_base_interface(),
     node->get_node_clock_interface(),

nav2_planner/src/planner_server.cpp

@@ -54,6 +54,8 @@ PlannerServer::PlannerServer(const rclcpp::NodeOptions & options)
   declare_parameter("expected_planner_frequency", 1.0);
   declare_parameter("action_server_result_timeout", 10.0);
 
+  declare_parameter("action_server_result_timeout", 10.0);
+
   get_parameter("planner_plugins", planner_ids_);
   if (planner_ids_ == default_ids_) {
     for (size_t i = 0; i < default_ids_.size(); ++i) {