From f6011928ed0546941b6f078256f5e893fadec2a0 Mon Sep 17 00:00:00 2001 From: Vladyslav Hrynchak Date: Tue, 30 Jul 2024 13:19:33 +0300 Subject: [PATCH] Fix CI Signed-off-by: Vladyslav Hrynchak --- nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp index c20708788c1..4127bc68439 100644 --- 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);