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_bringup/params/nav2_multirobot_params_1.yaml

@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -277,6 +278,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

nav2_bringup/params/nav2_multirobot_params_2.yaml

@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -276,6 +277,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

nav2_bringup/params/nav2_multirobot_params_all.yaml

@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -324,6 +325,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"

nav2_bringup/params/nav2_params.yaml

@@ -45,6 +45,7 @@ bt_navigator:
     odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
+    action_server_result_timeout: 900.0
     navigators: ["navigate_to_pose", "navigate_through_poses"]
     navigate_to_pose:
       plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
@@ -320,6 +321,7 @@ waypoint_follower:
   ros__parameters:
     loop_rate: 20
     stop_on_failure: false
+    action_server_result_timeout: 900.0
     waypoint_task_executor_plugin: "wait_at_waypoint"
     wait_at_waypoint:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"