Supporting configuring model_configure_timeout_seconds param (#477)

* Expose configure timeout

Signed-off-by: Ian Chen <iche@intrinsic.ai>

* fix doc

Signed-off-by: Ian Chen <iche@intrinsic.ai>

---------

Signed-off-by: Ian Chen <iche@intrinsic.ai>

Author: iche033

aic_bringup/launch/aic_gz_bringup.launch.py

@@ -98,6 +98,9 @@ def launch_setup(context, *args, **kwargs):
     model_discovery_timeout_seconds = LaunchConfiguration(
         "model_discovery_timeout_seconds"
     )
+    model_configure_timeout_seconds = LaunchConfiguration(
+        "model_configure_timeout_seconds"
+    )
 
     gripper_initial_pos = "0.00655"
     cable_type_str = LaunchConfiguration("cable_type").perform(context)
@@ -245,6 +248,7 @@ def launch_setup(context, *args, **kwargs):
                 "config_file_path": aic_engine_config_file,
                 "use_sim_time": True,
                 "model_discovery_timeout_seconds": model_discovery_timeout_seconds,
+                "model_configure_timeout_seconds": model_configure_timeout_seconds,
             },
         ],
         condition=IfCondition(start_aic_engine),
@@ -767,6 +771,13 @@ def generate_launch_description():
             description="Absolute path to YAML file with the AIC engine configuration.",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "model_configure_timeout_seconds",
+            default_value="60",
+            description="Timeout for model configuration checks.",
+        )
+    )
 
     declared_arguments.append(
         DeclareLaunchArgument(

aic_engine/README.md

@@ -59,7 +59,7 @@ ros2 run aic_engine aic_engine --ros-args \
   -p ground_truth:=false \
   -p endpoint_ready_timeout_seconds:=10 \
   -p model_discovery_timeout_seconds:=30 \
-  -p model_configuration_timeout_seconds:=60
+  -p model_configure_timeout_seconds:=60 \
   -p use_sim_time:=true
 ```