Fix CI

Signed-off-by: Vladyslav Hrynchak <[email protected]>
ros-navigation · Jul 30, 2024 · f601192 · f601192
1 parent 3bf69bf
commit f601192
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -57,7 +57,9 @@ inline BT::NodeStatus GoalUpdater::tick()
 
   getInput("input_goal", goal);
 
-  callback_group_executor_.spin_all(std::chrono::milliseconds(50));
+  // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
+  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
+  callback_group_executor_.spin_all(std::chrono::milliseconds(49));
 
   if (last_goal_received_.header.stamp != rclcpp::Time(0)) {
     auto last_goal_received_time = rclcpp::Time(last_goal_received_.header.stamp);