From ba29a47ea56a688c335e6789219501ef50a4b3b1 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Thu, 10 Mar 2022 10:57:56 +0100
Subject: [PATCH] decrease timeout to 5 seconds
---
src/PandaUtil.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/PandaUtil.cpp b/src/PandaUtil.cpp
index b69ca2f..bf4a11a 100644
--- a/src/PandaUtil.cpp
+++ b/src/PandaUtil.cpp
@@ -15,7 +15,7 @@ bool PandaUtil::recoverFromErrors() {
}
franka_msgs::ErrorRecoveryGoal goal;
ac.sendGoal(goal);
- if (ac.waitForResult(ros::Duration(20.0))) {
+ if (ac.waitForResult(ros::Duration(5.0))) {
actionlib::SimpleClientGoalState state = ac.getState();
ROS_INFO_STREAM("Panda error recovery finished: " << state.toString());
return state == actionlib::SimpleClientGoalState::SUCCEEDED;
--
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