From 348e6a247dc526e902f153ac816e5672ac4e0e79 Mon Sep 17 00:00:00 2001 From: Dylan De Coeyer Date: Thu, 9 Jan 2025 10:35:33 +0100 Subject: [PATCH] nav2_behaviors: drive_on_heading: return TIMEOUT error code when exceeding time allowance 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 --- .../include/nav2_behaviors/plugins/drive_on_heading.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp b/nav2_behaviors/include/nav2_behaviors/plugins/drive_on_heading.hpp index 8a37f26a630..a2760046345 100644 --- 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 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;