Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04 (Any)
• Installation type:
  • Any but Iron and Rolling
• Version or commit hash:
  • N.A
• DDS implementation:
  • Any
• Client library (if applicable):
  • Any (rclcpp, rclpy)

Description

If the user application uses default rcl_action_server_options_t, goal_handle will be considered as expired after 10 seconds.

as described in ros-navigation/navigation2#3765, that is so likely to take more than 10 seconds to set the goal result before expired(10 seconds) once accepted. ros-navigation/navigation2#3765 (comment) analyzes and work-around this issue with setting 30 seconds via rcl_action_server_options_t.result_timeout.

Consideration / Proposal

• rcl_action : increase the timeout from 10 seconds to 1 minute in default. (15 minutes are too long though.) Reduce result_timeout to 10 seconds. #1012 reduced the timeout into 10 seconds, but thinking about the use case such as Nav2 relies on ROS 2 action, 10 seconds is short in default. (backport required to Iron)
• rclpy_action : result_timeout default should be set to rcl's default accordingly. (currently this is set to 900 seconds.)

Related Issue

• Disabled result caching: Result gets erased before result callback is registered rclcpp#2101 (timeout == 0 does not work)