using builtin msgs duration

nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp

@@ -43,7 +43,7 @@ public:
       duration *= -1;
     }
 
-    goal_.time = duration;
+    goal_.time.sec = duration;
   }
 };
 

nav2_msgs/action/Wait.action

 #goal definition
-int32 time
+builtin_interfaces/Duration time
 ---
 #result definition
 std_msgs/Empty result

nav2_recoveries/plugins/wait.cpp

@@ -24,7 +24,7 @@ namespace nav2_recoveries
 Wait::Wait()
 : Recovery<WaitAction>()
 {
-  duration_ = 0.0;
+  duration_.sec = 0.0;
 }
 
 Wait::~Wait()
@@ -39,9 +39,8 @@ Status Wait::onRun(const std::shared_ptr<const WaitAction::Goal> command)
 
 Status Wait::onCycleUpdate()
 {
-  RCLCPP_INFO(node_->get_logger(), "Waiting %i seconds.", duration_);
-  auto sleep_dur = std::chrono::seconds(duration_);
-  rclcpp::sleep_for(sleep_dur);
+  rclcpp::sleep_for(
+    rclcpp::Duration(duration_).to_chrono<std::chrono::nanoseconds>());
   return Status::SUCCEEDED;
 }
 

nav2_recoveries/plugins/wait.hpp

@@ -37,7 +37,7 @@ public:
   Status onCycleUpdate() override;
 
 protected:
-  int duration_;
+  builtin_interfaces::msg::Duration duration_;
 };
 
 }  // namespace nav2_recoveries