Unified the unit of `cmd_vel_timeout`

[Narukara]

Describe the bug

Several controllers have a cmd_vel_timeout parameter. But their units are inconsistent. Specifically, I found these:

parameter	unit	type
tricycle_controller_parameter.yaml	milliseconds	int
omni_wheel_drive_controller_parameters.yaml	seconds	double
diff_drive_controller_parameter.yaml	seconds	double

This is a bit confusing. Maybe we should unify their units.

Additionally, two controllers are using reference_timeout. This appears to be the same as cmd_vel_timeout. Maybe the parameter names should be unified as well?

reference_timeout: steering_controllers_library.yaml, mecanum_drive_controller.yaml

Expected behavior Consistent units and types.

Environment:

• Version: master branch

[christophfroehlich]

Thanks for the overview. Fyi: Tricycle controller will be removed/integrated in the steering controllers_library, but I haven't finished the PR yet. https://github.com/ros-controls/ros2_controllers/pull/1695

You are right about the naming. reference_timeout would be more generic, but I'm not sure at the moment if this logic is also used if the controllers are in chained mode.

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[vedh1234]

I would like to take this up. I will investigate if the timeout logic is active during chained mode and will decide accordingly on the naming convention. Can you assign it to me ?