[Personalrobots-commit] SF.net SVN: personalrobots:[23419] pkg/trunk/sandbox/doors_planner_core

[<sac...@us...>]

Revision: 23419
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23419&view=rev
Author:   sachinchitta
Date:     2009-08-31 21:55:32 +0000 (Mon, 31 Aug 2009)

Log Message:
-----------
changed timeout for move_base_local and base_trajectory_controller

Modified Paths:
--------------
    pkg/trunk/sandbox/doors_planner_core/launch/navigation_planner.xml
    pkg/trunk/sandbox/doors_planner_core/test/test_planner_executive.cpp

Modified: pkg/trunk/sandbox/doors_planner_core/launch/navigation_planner.xml
===================================================================
--- pkg/trunk/sandbox/doors_planner_core/launch/navigation_planner.xml	2009-08-31 21:54:28 UTC (rev 23418)
+++ pkg/trunk/sandbox/doors_planner_core/launch/navigation_planner.xml	2009-08-31 21:55:32 UTC (rev 23419)
@@ -7,7 +7,7 @@
 <!-- Navigation through the door -->
   <include file="$(find door_demos)/launch/move_base_door.launch" />
   <param name="base_trajectory_controller/controller_frequency" value="100.0" type="double" />
-  <param name="base_trajectory_controller/max_update_time" value="20.0" type="double" />
+  <param name="base_trajectory_controller/max_update_time" value="0.2" type="double" />
 
   <param name="base_trajectory_controller/x/p_gain" value="2.5" type="double" />
   <param name="base_trajectory_controller/x/i_gain" value="0.1" type="double" />

Modified: pkg/trunk/sandbox/doors_planner_core/test/test_planner_executive.cpp
===================================================================
--- pkg/trunk/sandbox/doors_planner_core/test/test_planner_executive.cpp	2009-08-31 21:54:28 UTC (rev 23418)
+++ pkg/trunk/sandbox/doors_planner_core/test/test_planner_executive.cpp	2009-08-31 21:55:32 UTC (rev 23419)
@@ -490,7 +490,7 @@
       goal.target_pose = goal_msg;
       goal.target_pose.header.stamp = ros::Time();
       move_base_client_->sendGoal(goal);
-      bool finished_before_timeout = move_base_client_->waitForGoalToFinish(timeout_medium);
+      bool finished_before_timeout = move_base_client_->waitForGoalToFinish(timeout_long);
       if (!finished_before_timeout) 
       {
         ROS_ERROR("Move base failed.");


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