Print warning when waiting for more than 3 seconds for topic.

Author: StefanFabian

ros_babel_fish/src/detail/topic.cpp

@@ -3,11 +3,14 @@
 //
 
 #include "ros_babel_fish/detail/topic.hpp"
+#include "../logging.hpp"
 
 #include <rclcpp/graph_listener.hpp>
 #include <rclcpp/node.hpp>
 #include <rclcpp/wait_set.hpp>
 
+using namespace std::chrono_literals;
+
 namespace ros_babel_fish
 {
 namespace impl
@@ -68,6 +71,12 @@ bool wait_for_topic_and_type_nanoseconds( rclcpp::Node &node, const std::string
     if ( timeout > std::chrono::nanoseconds( 0 ) ) {
       time_to_wait = timeout - ( std::chrono::steady_clock::now() - start );
     }
+    if ( std::chrono::steady_clock::now() - start > 3s ) {
+      RBF2_WARN_THROTTLE(
+          *node.get_clock(), 3000,
+          "Still waiting for topic '%s' to appear (timeout=%ld). Are you spinning the node?",
+          topic.c_str(), timeout.count() );
+    }
   } while ( time_to_wait > std::chrono::nanoseconds( 0 ) );
   return false; // timeout exceeded while waiting for the topic
 }