In `bt_service_node.hpp`, `bt_loop_duration` is not in the ProvidedPorts list about navigation2 HOT 3 CLOSED

Hmm, I see that server_timeout and bt_loop_duration are read slightly differently. Tricky.

bt_loop_duration_ =
  config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
server_timeout_ =
  config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);

from navigation2.

These are indeed different parameters for different things and bt_loop_duration is not a parameter that is adjustable on a per-BT node basis. Its a system level parameter of the tick rate of the entire tree. Its used to limit the action/service call timeouts to the BT tick rate so that the tree can obtain the full BT tick rate requested by the user. So, this is not changable beyond adjusting that parameter for the whole tree.

The server timeout is the total time to wait for a result from an action / service that can be over the course of multiple BT node ticks that were preempted by the BT loop duration's increments

from navigation2.

OK, thanks. Not completely clear from looking at bt_service_node.hpp but I can't think of a way to make it better.

from navigation2.