Add timeouts to all spin_until_future_complete calls (ros-navigation#1998)

* Add timeouts to all spin_until_future_complete calls

Signed-off-by: Sarthak Mittal <[email protected]>

* Update default timeout value

Signed-off-by: Sarthak Mittal <[email protected]>

Author: naiveHobo

nav2_bringup/nav2_gazebo_spawner/nav2_gazebo_spawner/nav2_gazebo_spawner.py

@@ -36,6 +36,8 @@ def main():
                         help='the y component of the initial position [meters]')
     parser.add_argument('-z', type=float, default=0,
                         help='the z component of the initial position [meters]')
+    parser.add_argument('-k', '--timeout', type=float, default=10.0,
+                        help="Seconds to wait. Block until the future is complete if negative. Don't wait if 0.")
 
     group = parser.add_mutually_exclusive_group(required=True)
     group.add_argument('-t', '--turtlebot_type', type=str,
@@ -97,7 +99,7 @@ def main():
 
     node.get_logger().info('Sending service request to `/spawn_entity`')
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_future_complete(node, future, args.timeout)
     if future.result() is not None:
         print('response: %r' % future.result())
     else: