change from 100ms to 2000ms

ros-industrial · Dec 6, 2023 · 785ecb8 · 785ecb8
1 parent 7cde31f
commit 785ecb8
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/canopen/sphinx/user-guide/configuration.rst b/canopen/sphinx/user-guide/configuration.rst
@@ -111,7 +111,7 @@ but come from the lely core library. Below you find a list of possible configura
   reset_all_nodes;	Specifies whether all slaves shall be reset in case of an error event on a mandatory slave (default: false, see bit 4 in object 1F80).
   stop_all_nodes;	Specifies whether all slaves shall be stopped in case of an error event on a mandatory slave (default: false, see bit 6 in object 1F80).
   boot_time;	The timeout for booting mandatory slaves in ms (default: 0, see object 1F89).
-  boot_timeout;	The timeout for booting all slaves in ms (default: 100ms).
+  boot_timeout;	The timeout for booting all slaves in ms (default: 2000ms).
 
 Device Section
 --------------

diff --git a/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp b/canopen_core/include/canopen_core/node_interfaces/node_canopen_master.hpp
@@ -180,7 +180,7 @@ class NodeCanopenMaster : public NodeCanopenMasterInterface
         this->node_->get_logger(),
         "No timeout parameter found in config file. Using default value of 100ms.");
     }
-    this->timeout_ = timeout.value_or(100);
+    this->timeout_ = timeout.value_or(2000);
     RCLCPP_INFO_STREAM(
       this->node_->get_logger(), "Master boot timeout set to " << this->timeout_ << "ms.");
   }