nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance

DylanDeCoeyer-Quimesis · DylanDeCoeyer-Quimesis · commit 348e6a247dc5 · 2025-01-09T10:37:52.000+01:00
Until now, the NONE error code was returned when exceeding the time
allowance. Let's return the more appropriate TIMEOUT error code instead.

Signed-off-by: Dylan De Coeyer &lt;dylan.decoeyer@quimesis.be&gt;
diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp
@@ -104,7 +104,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>
       RCLCPP_WARN(
         this->logger_,
         "Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading");
-      return ResultStatus{Status::FAILED, ActionT::Result::NONE};
+      return ResultStatus{Status::FAILED, ActionT::Result::TIMEOUT};
     }
 
     geometry_msgs::msg::PoseStamped current_pose;

Original file line number	Diff line number	Diff line change
`@@ -104,7 +104,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>`
`104`	`104`	`RCLCPP_WARN(`
`105`	`105`	`this->logger_,`
`106`	`106`	`"Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading");`
`107`		`- return ResultStatus{Status::FAILED, ActionT::Result::NONE};`
	`107`	`+ return ResultStatus{Status::FAILED, ActionT::Result::TIMEOUT};`
`108`	`108`	`}`
`109`	`109`
`110`	`110`	`geometry_msgs::msg::PoseStamped current_pose;`