From 6fcbef14d2c5d244211fcbe546ea88aa0ba827cf Mon Sep 17 00:00:00 2001
From: Paul Gesel <paulgesel@gmail.com>
Date: Tue, 5 Mar 2024 12:37:09 -0700
Subject: [PATCH] Fix timeout value (#233)

Signed-off-by: Paul Gesel <paulgesel@gmail.com>
---
 .../objectives/interpolate_to_joint_state.xml             | 2 +-
 .../objectives/move_to_joint_state.xml                    | 4 ++--
 src/picknik_ur_base_config/objectives/move_to_pose.xml    | 2 +-
 .../objectives/object_segmentation_2d.xml                 | 2 +-
 .../objectives/object_segmentation_3d.xml                 | 2 +-
 .../objectives/object_inspection.xml                      | 2 +-
 .../objectives/object_registration.xml                    | 2 +-
 .../objectives/move_along_path.xml                        | 2 +-
 .../objectives/open_door_fixed_handle_ml.xml              | 8 ++++----
 .../objectives/open_door_lever_handle_ml.xml              | 2 +-
 src/picknik_ur_site_config/objectives/push_button_ml.xml  | 4 ++--
 11 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml b/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
index 8084cf2f..3adb3dc7 100644
--- a/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
+++ b/src/picknik_ur_base_config/objectives/interpolate_to_joint_state.xml
@@ -3,7 +3,7 @@
     <BehaviorTree ID="Interpolate to Joint State" _description="Move to a specified joint state using joint interpolation">
         <Control ID="Fallback" name="root">
             <Control ID="Sequence">
-                <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
+                <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
                 <Action ID="InitializeMTCTask" task_id="interpolate_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{interpolate_to_waypoint_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{interpolate_to_waypoint_task}"/>
                 <Action ID="SetupMTCInterpolateToJointState" joint_state="{target_joint_state}" name="SetupMTCInterpolateToJointState_First" planning_group_name="manipulator" task="{interpolate_to_waypoint_task}"/>
diff --git a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
index 5a0bc540..c587cd96 100644
--- a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
@@ -3,10 +3,10 @@
     <BehaviorTree ID="Move to Joint State" _description="Move to a specified joint state">
         <Control ID="Fallback" name="root">
             <Control ID="Sequence">
-                <Action ID="RetrieveJointStateParameter" timeout_sec="" joint_state="{target_joint_state}"/>
+                <Action ID="RetrieveJointStateParameter" timeout_sec="-1" joint_state="{target_joint_state}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_joint_state" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" task="{move_to_waypoint_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_waypoint_task}"/>
-                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" use_all_planners="false" constraints=""/>
+                <Action ID="SetupMTCMoveToJointState" joint_state="{target_joint_state}" name="SetupMTCMoveToJointState_First" planning_group_name="manipulator" task="{move_to_waypoint_task}" use_all_planners="false" />
                 <Action ID="PlanMTCTask" solution="{move_to_waypoint_solution}" task="{move_to_waypoint_task}"/>
                 <Action ID="ExecuteMTCTask" solution="{move_to_waypoint_solution}"/>
                 <Action ID="PublishEmpty" topic="/studio_ui/motion_ended" queue_size="1" use_best_effort="false"/>
diff --git a/src/picknik_ur_base_config/objectives/move_to_pose.xml b/src/picknik_ur_base_config/objectives/move_to_pose.xml
index 7e637b08..b2fcd435 100644
--- a/src/picknik_ur_base_config/objectives/move_to_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_pose.xml
@@ -3,7 +3,7 @@
     <BehaviorTree ID="Move to Pose" _description="Uses inverse kinematics to move the robot to a set gripper position">
         <Control ID="Fallback" name="root">
             <Control ID="Sequence">
-                <Action ID="RetrievePoseParameter" timeout_sec="" pose="{target_pose}"/>
+                <Action ID="RetrievePoseParameter" timeout_sec="-1" pose="{target_pose}"/>
                 <Action ID="InitializeMTCTask" task_id="move_to_pose" controller_names="/joint_trajectory_controller" task="{move_to_pose_task}"/>
                 <Action ID="SetupMTCCurrentState" task="{move_to_pose_task}"/>
                 <Action ID="SetupMTCMoveToPose" ik_frame="grasp_link" planning_group_name="manipulator" target_pose="{target_pose}" task="{move_to_pose_task}" use_all_planners="false"/>
diff --git a/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml b/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
index df22312e..6cea66fe 100644
--- a/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
+++ b/src/picknik_ur_gazebo_config/objectives/object_segmentation_2d.xml
@@ -3,7 +3,7 @@
   <!-- ////////// -->
   <BehaviorTree ID="Object Segmentation 2D" _description="Detect objects using a 2D image segmentation model." _favorite="false" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
-      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/>
       <Action ID="GetMasks2DAction" image="{image}" action_name="/get_masks_2d_maskrcnn" valid_classes="" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0" max_relative_area="1" timeout_sec="-1" masks2d="{masks2d}"/>
     </Control>
diff --git a/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml b/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
index 6ae17d28..338a18fd 100644
--- a/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
+++ b/src/picknik_ur_gazebo_config/objectives/object_segmentation_3d.xml
@@ -5,7 +5,7 @@
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
       <Action ID="ResetPlanningSceneObjects" apply_planning_scene_service="/apply_planning_scene"/>
-      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
       <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/>
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
index 0a2b3251..3804cffd 100644
--- a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
+++ b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_inspection.xml
@@ -4,7 +4,7 @@
   <BehaviorTree ID="Object Inspection" _description="Estimate the pose of an object using ICP; then, perform a 3D reconstruction of the object from multiple views." _favorite="true" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
-      <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
       <Action ID="LoadPoseStampedVectorFromYaml" file_path="trajectory_around_hercules.yaml" output="{pose_stamped_msgs}"/>
       <Decorator ID="ForEachPoseStamped" vector_in="{pose_stamped_msgs}" out="{trajectory_pose}">
diff --git a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
index e2d0503d..bc233891 100644
--- a/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
+++ b/src/picknik_ur_gazebo_scan_and_plan_config/objectives/object_registration.xml
@@ -4,7 +4,7 @@
   <BehaviorTree ID="Object Registration" _description="Estimate the pose of an object using ICP." _favorite="true" _hardcoded="false">
     <Control ID="Sequence" name="TopLevelSequence">
       <Action ID="ClearSnapshot"/>
-      <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Look at Object" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Estimate Object Pose" object_model_file_path="~/user_ws/install/picknik_accessories/share/picknik_accessories/descriptions/miscellaneous/farnese-hercules-head.stl" guess_position="-0.5;0.0;0.0" guess_orientation="0.0;0.0;0.6442177;0.7648422" icp_max_correspondence_distance="0.5" model_to_real_pose="{model_to_real_pose}"/>
     </Control>
   </BehaviorTree>
diff --git a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
index 6297d630..555b946c 100644
--- a/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
+++ b/src/picknik_ur_mock_hw_config/objectives/move_along_path.xml
@@ -17,7 +17,7 @@
       </Control>
       <Decorator ID="KeepRunningUntilFailure">
         <Control ID="Sequence">
-          <Action ID="MoveToWaypoint" waypoint_name="Look at Right Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller" use_all_planners="false" constraints=""/>
+          <Action ID="MoveToWaypoint" waypoint_name="Look at Right Table" planning_group_name="manipulator" controller_names="/joint_trajectory_controller" use_all_planners="false" />
           <Action ID="PlanCartesianPath" path="{pose_stamped_vector}" planning_group_name="manipulator" tip_link="grasp_link" tip_offset="0.0;0.0;0.0" position_only="false" blending_radius="0.02" velocity_scale_factor="1.0" acceleration_scale_factor="1.0" trajectory_sampling_rate="100" joint_trajectory_msg="{joint_trajectory_msg}"/>
           <Action ID="GetCurrentPlanningScene" planning_scene_msg="{planning_scene_msg}"/>
           <Action ID="ValidateTrajectory" planning_scene_msg="{planning_scene_msg}" planning_group_name="manipulator" joint_trajectory_msg="{joint_trajectory_msg}" joint_space_step="0.05" cartesian_space_step="0.02"/>
diff --git a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
index f8138b52..c151235f 100644
--- a/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
+++ b/src/picknik_ur_site_config/objectives/open_door_fixed_handle_ml.xml
@@ -9,7 +9,7 @@
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
       <SubTree ID="Update Admittance Controller" _collapsed="true"/>
       <!-- Look at the desired location where objects (door) will be present -->
-      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Clear Snapshot" _collapsed="true"/>
       <SubTree ID="Reset Planning Scene" _collapsed="true"/>
       <SubTree ID="Detect Door Graspable Object" _collapsed="true" door_object="{door_object}" detection_classes="space booth cabinet door"/>
@@ -18,16 +18,16 @@
       <Control ID="Fallback">
         <SubTree ID="Detect Fixed Handle Graspable Object" _collapsed="true" grasp_pose="{grasp_pose}"/>
         <Control ID="Sequence">
-          <Action ID="MoveToWaypoint" waypoint_name="Extended Right 2" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+          <Action ID="MoveToWaypoint" waypoint_name="Extended Right 2" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
           <SubTree ID="Detect Fixed Handle Graspable Object" _collapsed="true" grasp_pose="{grasp_pose}"/>
         </Control>
         <Control ID="Sequence">
-          <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+          <Action ID="MoveToWaypoint" waypoint_name="Extended Right" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
           <SubTree ID="Detect Fixed Handle Graspable Object" _collapsed="true" grasp_pose="{grasp_pose}"/>
         </Control>
       </Control>
       <!-- Get the masks for the hinge subframes of the door GraspableObject -->
-      <Action ID="MoveToWaypoint" waypoint_name="Hinge View" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Hinge View" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Detect Hinge Line Segment" _collapsed="true" line_segment_start_point="{line_segment_start_point}" line_segment_end_point="{line_segment_end_point}"/>
       <!-- Helper behavior to convert poses into subframes that adhere to the expected axis convention -->
       <Action ID="GetMoveAlongArcSubframes" target_grasp_pose="{grasp_pose}" hinge_axis_pose_start="{line_segment_start_point}" hinge_axis_pose_end="{line_segment_end_point}" move_along_arc_subframes="{move_along_arc_subframes}"/>
diff --git a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml b/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
index 9c7ad3d0..76717692 100644
--- a/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
+++ b/src/picknik_ur_site_config/objectives/open_door_lever_handle_ml.xml
@@ -9,7 +9,7 @@
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
       <SubTree ID="Update Admittance Controller" _collapsed="true"/>
       <!-- Look at the desired location where objects (door) will be present -->
-      <Action ID="MoveToWaypoint" waypoint_name="Extended Right 2" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Extended Right 2" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Clear Snapshot" _collapsed="true"/>
       <SubTree ID="Reset Planning Scene" _collapsed="true"/>
 
diff --git a/src/picknik_ur_site_config/objectives/push_button_ml.xml b/src/picknik_ur_site_config/objectives/push_button_ml.xml
index 81d00440..31c70d10 100644
--- a/src/picknik_ur_site_config/objectives/push_button_ml.xml
+++ b/src/picknik_ur_site_config/objectives/push_button_ml.xml
@@ -4,7 +4,7 @@
     <Control ID="Sequence">
       <Action ID="LoadObjectiveParameters" config_file_name="push_along_axis_config.yaml" parameters="{parameters}"/>
       <SubTree ID="Re-Zero Force-Torque Sensors" _collapsed="true"/>
-      <Action ID="MoveToWaypoint" waypoint_name="Hinge View" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" constraints=""/>
+      <Action ID="MoveToWaypoint" waypoint_name="Hinge View" planning_group_name="manipulator" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" use_all_planners="false" />
       <SubTree ID="Clear Snapshot" _collapsed="true"/>
       <SubTree ID="Reset Planning Scene" _collapsed="true"/>
       <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
@@ -60,7 +60,7 @@
       <Action ID="SetupMTCUpdateGroupCollisionRule" name="AllowGripperCollisionWithOctomap" parameters="{parameters}" task="{retreat_task}"/>
       <Action ID="SetupMTCCartesianMoveToJointState" joint_state="{pre_approach_robot_state}" planning_group_name="manipulator" task="{retreat_task}"/>
       <Action ID="SetupMTCUpdateGroupCollisionRule" name="ForbidGripperCollisionWithOctomap" parameters="{parameters}" task="{retreat_task}"/>
-      <Action ID="SetupMTCMoveToJointState" joint_state="{initial_robot_state}" planning_group_name="manipulator" task="{retreat_task}" use_all_planners="false" constraints=""/>
+      <Action ID="SetupMTCMoveToJointState" joint_state="{initial_robot_state}" planning_group_name="manipulator" task="{retreat_task}" use_all_planners="false" />
       <Action ID="PlanMTCTask" solution="{return_to_initial_waypoint_solution}" task="{retreat_task}"/>
       <Action ID="ExecuteMTCTask" solution="{return_to_initial_waypoint_solution}"/>
     </Control>