Operating System: Ubuntu
ROS2 Version: humble and main branches
Version or commit hash: N/A
DDS implementation: N/A

Expected behavior
If a costmap does not update, then the planner server action should fail and the planner should output an error diagnostic.

Actual behavior

PlannerServer::waitForCostmap() has no breakout timeout. Therefore, the planner server remains in loop if a costmap layer does not update, and there is no indication of why the planner server does not respond or updates its action request.
This loop should have a breakout condition with failure return and response.