From 49b0f47fea0ae29c977bbd60808696b85a9380cd Mon Sep 17 00:00:00 2001
From: DCCONSTRUCTIONS <dcconstructions@MacBook-Pro-DCCONSTRUCTIONS-2.local>
Date: Fri, 24 Jul 2026 22:51:21 +0300
Subject: [PATCH] fix(simulation): tolerate cold ROS publisher startup

---
 src/k1link/simulation/px4_rover_control.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/k1link/simulation/px4_rover_control.py b/src/k1link/simulation/px4_rover_control.py
index 8bf0801..6993d8a 100644
--- a/src/k1link/simulation/px4_rover_control.py
+++ b/src/k1link/simulation/px4_rover_control.py
@@ -12,6 +12,7 @@ from k1link.simulation.contracts import AckermannControlSetpoint
 
 OFFBOARD_HEARTBEAT_SECONDS: Final = 0.1
 OFFBOARD_WARMUP_HEARTBEATS: Final = 12
+ROS_PUBLISHER_STARTUP_TIMEOUT_SECONDS: Final = 15.0
 OFFBOARD_ADMISSION_TIMEOUT_SECONDS: Final = 60.0
 STOCK_ROVER_MAX_THROTTLE_SPEED_MPS: Final = 3.1
 VEHICLE_COMMAND_DO_SET_MODE: Final = 176
@@ -83,7 +84,7 @@ class Ros2Px4AckermannControl:
                 daemon=True,
             )
             self._thread.start()
-        if not self._started.wait(timeout=3):
+        if not self._started.wait(timeout=ROS_PUBLISHER_STARTUP_TIMEOUT_SECONDS):
             self._abort_thread()
             raise Px4RoverControlError("PX4 ROS 2 command publisher did not start")
         self._raise_failure()