ROS 2 TSC Meeting Minutes 2023-09-21

[tomoyafujita]

@Katherine_Scott

• We ID’d in Nav2 an issue with rcl action library naively expiring live goals causing problems → impacts many action users
• rclcpp_action goal handle timeout logic clearing long-running goals · Issue #3765 · ros-planning/navigation2 · GitHub
• Open Navigation doesn’t have cycles to address right now, but worth making visible to this group / end-users
• • a temporary work around using high result_timeout, which comes with trade-offs
• Call to action: Intrinsic, help? I’m pretty sure your ROS 2-based products hit this as well Did you file an issue?

@Katherine_Scott

Just sharing the current status, issue has been created in rcl

• rcl_action: result_timeout should be started on goal completion · Issue #1103 · ros2/rcl · GitHub

PRs (just default timeout changes.)

• reduce result_timeout to 10 sec from 15 mins. by fujitatomoya · Pull Request #1171 · ros2/rclpy · GitHub
• increase result_timeout to 1 mins from 10 secs. by fujitatomoya · Pull Request #1104 · ros2/rcl · GitHub

Further discussion required for more sophisticated approach to reset the result timeout.