Project 6: Missing key in mission_orchestration node #236

name: Project 6: mission_orchestration node
about: About missing key in loading behavior tree in mission_orchestration node
title: "Missing key in mission_orchestration node"

Description

When trying to execute the mission in Project 6, there would be an error message saying that the action server wasn't ready. There would also be an error message when launching the project saying that the behavior tree wasn't loaded properly and that there was a missing key of "wait_for_service_timeout".

Fix

In lines 105-110 of mission_orchestrator.cpp from the mission_orchestration package in the STSL repository, I added the following line after googling the error messages shown in the screenshots:

blackboard_->set<std::chrono::milliseconds>("wait_for_service_timeout", std::chrono::milliseconds(5000));

(I arbitrarily chose 5 seconds for the length since I thought it would be more than long enough.)
After adding this line, the button works, and the bot starts moving.

Steps to Reproduce

1. Run "ros2 launch rj_training_bringup week_6.launch.xml"
2. Click the "execute mission" button.

Expected behavior

The button is supposed to execute the mission, and the simulated bot is supposed to start moving.

Screenshots

Error message after pressing the button to execute the mission: