Skip to content

Parameterized default cancel timeout #27

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
jonipol merged 1 commit into from
Jun 30, 2026
Merged

Parameterized default cancel timeout #27

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions task_manager/params/task_manager_defaults.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,3 +2,4 @@ task_manager:
ros__parameters:
tasks: []
enable_task_servers: False
default_task_timeout: 5.0
3 changes: 2 additions & 1 deletion task_manager/task_manager/task_manager_node.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,7 @@ class TaskManager(Node):
def __init__(self, active_tasks: ActiveTasks, parameter_overrides=None) -> None:
super().__init__("task_manager", parameter_overrides=parameter_overrides)

self._default_cancel_timeout = self.declare_parameter("default_cancel_timeout", 5.0).value
qos = QoSProfile(
depth=10, reliability=QoSReliabilityPolicy.RELIABLE, durability=QoSDurabilityPolicy.TRANSIENT_LOCAL
)
Expand Down Expand Up @@ -122,7 +123,7 @@ def declare_tasks(self):
msg_interface=msg_interface,
task_server_type=detect_task_server_type(msg_interface),
service_success_field=service_success_field,
cancel_timeout=self.declare_parameter(f"{task}.cancel_timeout", 5.0).value,
cancel_timeout=self.declare_parameter(f"{task}.cancel_timeout", self._default_cancel_timeout).value,
)
self.known_tasks[task_specs.task_name] = task_specs

Expand Down
2 changes: 1 addition & 1 deletion task_manager/task_manager/task_registrator.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -151,7 +151,7 @@ def _cancel_task_of_same_type(self, task_name: str) -> None:
try:
task_client.cancel_task()
except CancelTaskFailedError as e:
raise TaskStartError("Failed to cancel previous task of same type.") from e
raise TaskStartError(f"Failed to cancel previous task of same type ({task_name}).") from e

def _cancel_active_blocking_task(self) -> None:
"""Cancels the active blocking task if one is running.
Expand Down
Loading