nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance (#4836)

DylanDeCoeyer-Quimesis · SteveMacenski · commit 83652b34a3f4 · 2025-02-04T15:57:44.000-08:00
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
@@ -102,7 +102,7 @@ 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
`@@ -102,7 +102,7 @@ class DriveOnHeading : public TimedBehavior<ActionT>`
`102`	`102`	`RCLCPP_WARN(`
`103`	`103`	`this->logger_,`
`104`	`104`	`"Exceeded time allowance before reaching the DriveOnHeading goal - Exiting DriveOnHeading");`
`105`		`- return ResultStatus{Status::FAILED, ActionT::Result::NONE};`
	`105`	`+ return ResultStatus{Status::FAILED, ActionT::Result::TIMEOUT};`
`106`	`106`	`}`
`107`	`107`
`108`	`108`	`geometry_msgs::msg::PoseStamped current_pose;`