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olympus-robotics · Oct 25, 2024 · b68fb6c · b68fb6c
1 parent db3c00c
commit b68fb6c
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Showing 2 changed files with 3 additions and 4 deletions.
diff --git a/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h b/modules/ipc/include/hephaestus/ipc/zenoh/action_server/action_server.h
@@ -129,7 +129,7 @@ ActionServer<RequestT, StatusT, ReplyT>::ActionServer(SessionPtr session, TopicC
         session_, topic_config_, [this](const RequestT& request) { return onRequest(request); }))
   , request_consumer_([this](const RequestT& request) { return execute(request); }, std::nullopt) {
   request_consumer_.start();
-  LOG(ERROR) << fmt::format("[ActionServer {}] Started Action Server.", topic_config_.name);
+  LOG(INFO) << fmt::format("[ActionServer {}] Started Action Server.", topic_config_.name);
 }
 
 template <typename RequestT, typename StatusT, typename ReplyT>

diff --git a/modules/ipc/src/zenoh/action_server/action_server.cpp b/modules/ipc/src/zenoh/action_server/action_server.cpp
@@ -17,12 +17,11 @@
 
 namespace heph::ipc::zenoh::action_server {
 auto requestActionServerToStopExecution(Session& session, const TopicConfig& topic_config) -> bool {
-  static constexpr auto TIMEOUT = std::chrono::milliseconds{ 10000 };
+  static constexpr auto TIMEOUT = std::chrono::milliseconds{ 1000 };
   const auto stop_topic = internal::getStopServiceTopic(topic_config);
   auto results = callService<std::string, std::string>(session, TopicConfig{ stop_topic }, "", TIMEOUT);
   if (results.size() != 1) {
-    LOG(ERROR) << fmt::format("Failed to stop the action server {}. Received {} responses", topic_config.name,
-                              results.size());
+    LOG(ERROR) << fmt::format("Failed to stop the action server {}", topic_config.name);
     return false;
   }