Allow configuring the daemon inactivity timeout#1240
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The daemon shuts itself down after a fixed 2 hours of inactivity, after which the next ros2 command has to respawn it. Expose this as a --timeout option on `ros2 daemon start` (the default stays 2 hours), and let a negative value disable the timeout so the daemon keeps running until it is explicitly stopped. The value is threaded through spawn_daemon() via a new inactivity_timeout argument; the auto-spawn path keeps the 2 hour default. This also fixes _ros2_daemon's existing --timeout, where a negative value used to make the daemon exit immediately instead of disabling the timeout. Signed-off-by: Abderahmane BENALI <46283596+benaliabderrahmane@users.noreply.github.com>
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Fixes #1239.
The daemon's inactivity timeout was hard-coded to 2 hours. We run robots for days with a large number of nodes, and once the daemon has timed out an occasional ros2 CLI call respawns a node and triggers DDS discovery, which shows up as a CPU spike. This makes the timeout configurable so a single long-lived daemon can be kept around instead.
ros2 daemon start --timeout Nshuts the daemon down after N seconds of inactivity. The default is still 2 hours, so behavior is unchanged unless you ask for it.helpers.wait_for).spawn_daemon()gains aninactivity_timeoutargument; the auto-spawn path keeps the 2 hour default._ros2_daemon's existing--timeout: a negative value used to make the daemon exit immediately, now it disables the timeout.This intentionally only affects daemons started explicitly; auto-spawned daemons keep the 2 hour default.
Added
test/test_daemon_timeout.pycovering the new argument and the short-timeout / never-timeout behavior.