From 09a6896e45f15eb2652e476625c126b4dd720e4e Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 08:31:25 -0500
Subject: [PATCH 01/16] publishing twist command

---
 .../imetro_behavior/geometry_behaviors.py     | 53 ++++++++++++++++++-
 1 file changed, 52 insertions(+), 1 deletion(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index 1235621..6bbbe13 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -29,7 +29,7 @@
 from py_trees.common import Access, Status
 from py_trees.ports import BehaviourWithPorts, PortInformation
 import tf2_geometry_msgs
-from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion, TransformStamped
+from geometry_msgs.msg import PoseStamped, Pose, Point, Quaternion, TransformStamped, TwistStamped
 from std_msgs.msg import Header
 from tf2_ros import TransformBroadcaster
 
@@ -712,3 +712,54 @@ def update(self) -> Status:
         transform_stamped = self.get_input("transform_stamped")
         self.tf_broadcaster.sendTransform(transform_stamped)
         return Status.SUCCESS
+
+class PublishTwist(BehaviourWithPorts):
+  
+    publisher = None
+    twist_stamped = None
+    """Sends an action goal to Nav2 to navigate to a pose."""
+    @classmethod
+    def input_ports(cls) -> dict:
+        """Return the input port declarations."""
+        return {"topic": PortInformation(data_type=str, required=True),
+                "linear": PortInformation(data_type=list[float], required=True),
+                "angular": PortInformation(data_type=list[float], required=True),
+                "frame_id": PortInformation(data_type=str, required=False)}
+
+    @classmethod
+    def output_ports(cls) -> dict:
+        """Return the output port declarations."""
+        return {}
+
+    def setup(self, **kwargs):
+        """Setup transform broadcaster."""
+        self.node = kwargs.get("node")
+        if not isinstance(self.node, Node):
+          raise KeyError(f"A valid ROS node is required to setup the '{self.qualified_name}' node.")
+        
+    def update(self) -> Status:
+        """Publish the transform frame."""
+        if self.publisher is None:
+          topic_name = "/" + self.get_input("topic")
+          self.publisher = self.node.create_publisher(TwistStamped, topic_name, 1)
+                
+        if self.twist_stamped is None:
+          
+          self.twist_stamped = TwistStamped()
+          
+          linear = self.get_input("linear", [0.0, 0.0, 0.0])
+          angular = self.get_input("angular", [0.0, 0.0, 0.0])
+          
+          self.twist_stamped.twist.linear.x = linear[0]
+          self.twist_stamped.twist.linear.y = linear[1]
+          self.twist_stamped.twist.linear.z = linear[2]
+          
+          self.twist_stamped.twist.angular.x = angular[0]
+          self.twist_stamped.twist.angular.y = angular[1]
+          self.twist_stamped.twist.angular.z = angular[2]
+          
+          self.twist_stamped.header.stamp = self.node.get_clock().now().to_msg()
+          self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
+
+        self.publisher.publish(self.twist_stamped)
+        return Status.SUCCESS
\ No newline at end of file

From 9048aa41a518e1775e1a991775822c67525743a4 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 09:22:08 -0500
Subject: [PATCH 02/16] fixed the init, for publishing twist

---
 .../imetro_behavior/geometry_behaviors.py     | 28 +++++++++++++------
 1 file changed, 20 insertions(+), 8 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index 6bbbe13..271ab93 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -17,6 +17,8 @@
 # License for the specific language governing permissions and limitations
 # under the License.
 
+from typing import Any
+
 import copy
 import yaml
 
@@ -714,15 +716,26 @@ def update(self) -> Status:
         return Status.SUCCESS
 
 class PublishTwist(BehaviourWithPorts):
-  
-    publisher = None
-    twist_stamped = None
     """Sends an action goal to Nav2 to navigate to a pose."""
+    def __init__(
+        self,
+        name: str,
+        *,
+        topic_name: str,
+        **kwargs: Any,
+    ) -> None:
+      """
+      
+      """
+      super().__init__(name, **kwargs)
+      self.topic_name = topic_name
+      self.publisher = None
+      self.twist_stamped = None
+
     @classmethod
     def input_ports(cls) -> dict:
         """Return the input port declarations."""
-        return {"topic": PortInformation(data_type=str, required=True),
-                "linear": PortInformation(data_type=list[float], required=True),
+        return {"linear": PortInformation(data_type=list[float], required=True),
                 "angular": PortInformation(data_type=list[float], required=True),
                 "frame_id": PortInformation(data_type=str, required=False)}
 
@@ -740,8 +753,7 @@ def setup(self, **kwargs):
     def update(self) -> Status:
         """Publish the transform frame."""
         if self.publisher is None:
-          topic_name = "/" + self.get_input("topic")
-          self.publisher = self.node.create_publisher(TwistStamped, topic_name, 1)
+          self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
                 
         if self.twist_stamped is None:
           
@@ -762,4 +774,4 @@ def update(self) -> Status:
           self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
 
         self.publisher.publish(self.twist_stamped)
-        return Status.SUCCESS
\ No newline at end of file
+        return Status.SUCCESS

From 0505dddf8f4073357d3d9ed1a7eebef924a7608f Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 12:26:17 -0500
Subject: [PATCH 03/16] timeout behavior

---
 .../imetro_behavior/decorators.py             | 56 ++++++++++++++++++-
 .../imetro_behavior/geometry_behaviors.py     |  7 +--
 2 files changed, 58 insertions(+), 5 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index 58081d1..da661d8 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -16,12 +16,13 @@
 # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 # License for the specific language governing permissions and limitations
 # under the License.
-
+import time
 from collections.abc import Iterator
 
 from py_trees.behaviour import Behaviour
 from py_trees.common import Status
 from py_trees.decorators import Decorator
+from py_trees import common
 from py_trees.ports import PortInformation, PortsMixin
 
 
@@ -91,3 +92,56 @@ def tick(self) -> Iterator[Behaviour]:
     def update(self) -> Status:
         """Reflect the child's status, since it is only ticked when the variable is true."""
         return self.decorated.status
+
+class TimeoutPort(PortsMixin, Decorator):
+    """
+    Executes a child/subtree with a timeout.
+
+    A decorator that applies a timeout pattern to an existing behaviour.
+    If the timeout is reached, the encapsulated behaviour's
+    :meth:`~py_trees.behaviour.Behaviour.stop` method is called with
+    status :data:`~py_trees.common.Status.FAILURE` otherwise it will
+    simply directly tick and return with the same status
+    as that of its encapsulated behaviour.
+    """
+
+    finish_time: float = None 
+    
+    @classmethod
+    def input_ports(cls) -> dict:
+        """Return the input port declarations."""
+        return {"duration": PortInformation(data_type=float, required=True)}
+
+    @classmethod
+    def output_ports(cls) -> dict:
+        """Return the output port declarations."""
+        return {}
+
+    def update(self) -> Status:
+        """
+        Fail on timeout, or block / reflect the child's result accordingly.
+
+        Terminate the child and return
+        :data:`~py_trees.common.Status.FAILURE`
+        if the timeout is exceeded.
+
+        Returns:
+            the behaviour's new status :class:`~py_trees.common.Status`
+        """
+
+        current_time = time.monotonic()
+
+        if self.finish_time is None: 
+          self.finish_time = current_time + self.get_input("duration")
+
+        if self.decorated.status == common.Status.RUNNING and current_time > self.finish_time:
+            self.feedback_message = "timed out"
+            self.logger.debug(f"{self.__class__.__name__}.update() {self.feedback_message}")
+            # invalidate the decorated (i.e. cancel it), could also put this logic in a terminate() method
+            self.decorated.stop(common.Status.INVALID)
+            return common.Status.FAILURE
+        if self.decorated.status == common.Status.RUNNING:
+            self.feedback_message = f"time still ticking ... [remaining: {self.finish_time - current_time}s]"
+        else:
+            self.feedback_message = "child finished before timeout triggered"
+        return self.decorated.status
diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index 271ab93..c663542 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -716,7 +716,9 @@ def update(self) -> Status:
         return Status.SUCCESS
 
 class PublishTwist(BehaviourWithPorts):
-    """Sends an action goal to Nav2 to navigate to a pose."""
+    """
+    
+    """
     def __init__(
         self,
         name: str,
@@ -724,9 +726,6 @@ def __init__(
         topic_name: str,
         **kwargs: Any,
     ) -> None:
-      """
-      
-      """
       super().__init__(name, **kwargs)
       self.topic_name = topic_name
       self.publisher = None

From dc0471bf08f1a0733d803f5cfcff1ca90c5ba023 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 12:47:00 -0500
Subject: [PATCH 04/16] docstring for PublishTwist behavior

---
 src/imetro_behavior/imetro_behavior/geometry_behaviors.py | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index c663542..a932f1a 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -717,7 +717,9 @@ def update(self) -> Status:
 
 class PublishTwist(BehaviourWithPorts):
     """
-    
+    Takes in `linear` and `angular` and converts them geometry_msgs/msg/Twist.
+    Creates std_msgs/msg/Header from `frame_id` input and current ROS 2 timestamp.
+    Combines both into geometry_msgs/msg/TwistStamped and publishes onto the `topic_name`.   
     """
     def __init__(
         self,
@@ -744,13 +746,13 @@ def output_ports(cls) -> dict:
         return {}
 
     def setup(self, **kwargs):
-        """Setup transform broadcaster."""
+        """Get the ROS node from the blackboard."""
         self.node = kwargs.get("node")
         if not isinstance(self.node, Node):
           raise KeyError(f"A valid ROS node is required to setup the '{self.qualified_name}' node.")
         
     def update(self) -> Status:
-        """Publish the transform frame."""
+        """Assemble and publish twist stamped message."""
         if self.publisher is None:
           self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
                 

From 60b7de8f23444338b966ee64261445afac118294 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 12:51:12 -0500
Subject: [PATCH 05/16] added more to timeout port docstring

---
 src/imetro_behavior/imetro_behavior/decorators.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index da661d8..53125d7 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -95,6 +95,11 @@ def update(self) -> Status:
 
 class TimeoutPort(PortsMixin, Decorator):
     """
+    Reimplimentation of the Timeout behavior from the py_trees library
+    [Link](https://py-trees.readthedocs.io/en/devel/modules.html#py_trees.decorators.Timeout) for reference.
+    
+    NOTE: This behavior is supposed to be temporary.
+    
     Executes a child/subtree with a timeout.
 
     A decorator that applies a timeout pattern to an existing behaviour.

From 46b4b4c188976095e0815e12d77cd158e36521db Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 12:51:56 -0500
Subject: [PATCH 06/16] pre-commit

---
 .../imetro_behavior/decorators.py             | 15 ++---
 .../imetro_behavior/geometry_behaviors.py     | 60 ++++++++++---------
 2 files changed, 40 insertions(+), 35 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index 53125d7..2c375f4 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -93,13 +93,14 @@ def update(self) -> Status:
         """Reflect the child's status, since it is only ticked when the variable is true."""
         return self.decorated.status
 
+
 class TimeoutPort(PortsMixin, Decorator):
     """
-    Reimplimentation of the Timeout behavior from the py_trees library
+    Reimplementation of the Timeout behavior from the py_trees library
     [Link](https://py-trees.readthedocs.io/en/devel/modules.html#py_trees.decorators.Timeout) for reference.
-    
+
     NOTE: This behavior is supposed to be temporary.
-    
+
     Executes a child/subtree with a timeout.
 
     A decorator that applies a timeout pattern to an existing behaviour.
@@ -110,8 +111,8 @@ class TimeoutPort(PortsMixin, Decorator):
     as that of its encapsulated behaviour.
     """
 
-    finish_time: float = None 
-    
+    finish_time: float = None
+
     @classmethod
     def input_ports(cls) -> dict:
         """Return the input port declarations."""
@@ -136,8 +137,8 @@ def update(self) -> Status:
 
         current_time = time.monotonic()
 
-        if self.finish_time is None: 
-          self.finish_time = current_time + self.get_input("duration")
+        if self.finish_time is None:
+            self.finish_time = current_time + self.get_input("duration")
 
         if self.decorated.status == common.Status.RUNNING and current_time > self.finish_time:
             self.feedback_message = "timed out"
diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index a932f1a..e0719f7 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -715,12 +715,14 @@ def update(self) -> Status:
         self.tf_broadcaster.sendTransform(transform_stamped)
         return Status.SUCCESS
 
+
 class PublishTwist(BehaviourWithPorts):
     """
     Takes in `linear` and `angular` and converts them geometry_msgs/msg/Twist.
     Creates std_msgs/msg/Header from `frame_id` input and current ROS 2 timestamp.
-    Combines both into geometry_msgs/msg/TwistStamped and publishes onto the `topic_name`.   
+    Combines both into geometry_msgs/msg/TwistStamped and publishes onto the `topic_name`.
     """
+
     def __init__(
         self,
         name: str,
@@ -728,17 +730,19 @@ def __init__(
         topic_name: str,
         **kwargs: Any,
     ) -> None:
-      super().__init__(name, **kwargs)
-      self.topic_name = topic_name
-      self.publisher = None
-      self.twist_stamped = None
+        super().__init__(name, **kwargs)
+        self.topic_name = topic_name
+        self.publisher = None
+        self.twist_stamped = None
 
     @classmethod
     def input_ports(cls) -> dict:
         """Return the input port declarations."""
-        return {"linear": PortInformation(data_type=list[float], required=True),
-                "angular": PortInformation(data_type=list[float], required=True),
-                "frame_id": PortInformation(data_type=str, required=False)}
+        return {
+            "linear": PortInformation(data_type=list[float], required=True),
+            "angular": PortInformation(data_type=list[float], required=True),
+            "frame_id": PortInformation(data_type=str, required=False),
+        }
 
     @classmethod
     def output_ports(cls) -> dict:
@@ -749,30 +753,30 @@ def setup(self, **kwargs):
         """Get the ROS node from the blackboard."""
         self.node = kwargs.get("node")
         if not isinstance(self.node, Node):
-          raise KeyError(f"A valid ROS node is required to setup the '{self.qualified_name}' node.")
-        
+            raise KeyError(f"A valid ROS node is required to setup the '{self.qualified_name}' node.")
+
     def update(self) -> Status:
         """Assemble and publish twist stamped message."""
         if self.publisher is None:
-          self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
-                
+            self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
+
         if self.twist_stamped is None:
-          
-          self.twist_stamped = TwistStamped()
-          
-          linear = self.get_input("linear", [0.0, 0.0, 0.0])
-          angular = self.get_input("angular", [0.0, 0.0, 0.0])
-          
-          self.twist_stamped.twist.linear.x = linear[0]
-          self.twist_stamped.twist.linear.y = linear[1]
-          self.twist_stamped.twist.linear.z = linear[2]
-          
-          self.twist_stamped.twist.angular.x = angular[0]
-          self.twist_stamped.twist.angular.y = angular[1]
-          self.twist_stamped.twist.angular.z = angular[2]
-          
-          self.twist_stamped.header.stamp = self.node.get_clock().now().to_msg()
-          self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
+
+            self.twist_stamped = TwistStamped()
+
+            linear = self.get_input("linear", [0.0, 0.0, 0.0])
+            angular = self.get_input("angular", [0.0, 0.0, 0.0])
+
+            self.twist_stamped.twist.linear.x = linear[0]
+            self.twist_stamped.twist.linear.y = linear[1]
+            self.twist_stamped.twist.linear.z = linear[2]
+
+            self.twist_stamped.twist.angular.x = angular[0]
+            self.twist_stamped.twist.angular.y = angular[1]
+            self.twist_stamped.twist.angular.z = angular[2]
+
+            self.twist_stamped.header.stamp = self.node.get_clock().now().to_msg()
+            self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
 
         self.publisher.publish(self.twist_stamped)
         return Status.SUCCESS

From 1c4790cbaeb5270cbdbfec41e13dcef5e8d0bc01 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 15:46:03 -0500
Subject: [PATCH 07/16] moved finish time to initialize method

---
 src/imetro_behavior/imetro_behavior/decorators.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index 2c375f4..5cc4601 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -123,6 +123,11 @@ def output_ports(cls) -> dict:
         """Return the output port declarations."""
         return {}
 
+    def initialise(self) -> None:
+        """Reset the feedback message and finish time on behaviour entry."""
+        self.finish_time = time.monotonic() + self.get_input("duration")
+        self.feedback_message = ""
+
     def update(self) -> Status:
         """
         Fail on timeout, or block / reflect the child's result accordingly.
@@ -137,8 +142,6 @@ def update(self) -> Status:
 
         current_time = time.monotonic()
 
-        if self.finish_time is None:
-            self.finish_time = current_time + self.get_input("duration")
 
         if self.decorated.status == common.Status.RUNNING and current_time > self.finish_time:
             self.feedback_message = "timed out"

From 2b24c8022486731057ce82f9cfc516023d65ef42 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 15:46:34 -0500
Subject: [PATCH 08/16] yoinked the testing from py_trees testing suite

---
 src/imetro_behavior/tests/test_decorators.py | 107 ++++++++++++++++++-
 1 file changed, 106 insertions(+), 1 deletion(-)

diff --git a/src/imetro_behavior/tests/test_decorators.py b/src/imetro_behavior/tests/test_decorators.py
index edcfcf4..a28089b 100644
--- a/src/imetro_behavior/tests/test_decorators.py
+++ b/src/imetro_behavior/tests/test_decorators.py
@@ -16,12 +16,13 @@
 # WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 # License for the specific language governing permissions and limitations
 # under the License.
+import time
 
 import py_trees
 from py_trees.blackboard import Blackboard
 from py_trees.common import Status
 
-from imetro_behavior.decorators import SuccessIfVariableIsFalse, SuccessIfVariableIsTrue
+from imetro_behavior.decorators import SuccessIfVariableIsFalse, SuccessIfVariableIsTrue, TimeoutPort
 
 
 def test_success_if_variable_is_true_skips_child() -> None:
@@ -88,3 +89,107 @@ def test_success_if_variable_is_false_ticks_child() -> None:
     decorator.tick_once()
     assert decorator.status == Status.FAILURE
     assert child.status == Status.FAILURE
+
+def test_timeout() -> None:
+    running = py_trees.behaviours.Running(name="Running")
+    timeout = TimeoutPort(name="Timeout", child=running)
+    timeout.setup_ports()
+    
+    Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
+
+    print(py_trees.display.unicode_tree(timeout))
+    visitor = py_trees.visitors.DebugVisitor()
+
+    # Test that it times out and re-initialises properly
+    for i in range(0, 2):
+        py_trees.tests.tick_tree(timeout, 2 * i + 1, 2 * i + 1, visitors=[visitor])
+
+        print("\n--------- Assertions ---------\n")
+        print("timeout.status == py_trees.common.Status.RUNNING")
+        assert timeout.status == py_trees.common.Status.RUNNING
+        print("running.status == py_trees.common.Status.RUNNING")
+        assert running.status == py_trees.common.Status.RUNNING
+
+        time.sleep(0.3)
+        py_trees.tests.tick_tree(timeout, 2 * i + 2, 2 * i + 2, visitors=[visitor])
+
+        print("\n--------- Assertions ---------\n")
+        print("timeout.status == py_trees.common.Status.FAILURE")
+        assert timeout.status == py_trees.common.Status.FAILURE
+        print("running.status == py_trees.common.Status.INVALID")  # type: ignore[unreachable]
+        assert running.status == py_trees.common.Status.INVALID
+
+    # test that it passes on success
+    count = py_trees.behaviours.StatusQueue(
+        name="Queue",
+        queue=[py_trees.common.Status.RUNNING],
+        eventually=py_trees.common.Status.SUCCESS,
+    )
+    timeout = TimeoutPort(name="Timeout", child=count)
+    timeout.setup_ports()
+    
+    Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
+
+    print(py_trees.display.unicode_tree(timeout))
+
+    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
+
+    print("\n--------- Assertions ---------\n")
+    print("timeout.status == py_trees.common.Status.RUNNING")
+    assert timeout.status == py_trees.common.Status.RUNNING
+    print("count.status == py_trees.common.Status.RUNNING")
+    assert count.status == py_trees.common.Status.RUNNING
+
+    py_trees.tests.tick_tree(timeout, 2, 2, visitors=[visitor])
+
+    print("\n--------- Assertions ---------\n")
+    print("timeout.status == py_trees.common.Status.SUCCESS")
+    assert timeout.status == py_trees.common.Status.SUCCESS
+    print("count.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
+    assert count.status == py_trees.common.Status.SUCCESS
+
+    # test that it passes on failure
+    failure = py_trees.behaviours.Failure(name="Failure")
+    timeout = TimeoutPort(name="Timeout", child=failure)
+    timeout.setup_ports()
+    
+    Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
+
+    print(py_trees.display.unicode_tree(timeout))
+
+    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
+
+    print("\n--------- Assertions ---------\n")
+    print("timeout.status == py_trees.common.Status.FAILURE")
+    assert timeout.status == py_trees.common.Status.FAILURE
+    print("failure.status == py_trees.common.Status.FAILURE")
+    assert failure.status == py_trees.common.Status.FAILURE
+
+    # test that it succeeds if child succeeds on last tick
+    count = py_trees.behaviours.StatusQueue(
+        name="Queue",
+        queue=[py_trees.common.Status.RUNNING],
+        eventually=py_trees.common.Status.SUCCESS,
+    )
+    timeout = TimeoutPort(name="Timeout", child=count)
+    timeout.setup_ports()
+        
+    Blackboard.set(timeout._get_blackboard_key("duration"), 0.1)
+    print(py_trees.display.unicode_tree(timeout))
+
+    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
+
+    print("\n--------- Assertions ---------\n")
+    print("timeout.status == py_trees.common.Status.RUNNING")
+    assert timeout.status == py_trees.common.Status.RUNNING
+    print("count.status == py_trees.common.Status.RUNNING")
+    assert count.status == py_trees.common.Status.RUNNING
+
+    time.sleep(0.2)  # go past the duration
+    py_trees.tests.tick_tree(timeout, 2, 2, visitors=[visitor])
+
+    print("\n--------- Assertions ---------\n")
+    print("timeout.status == py_trees.common.Status.SUCCESS")
+    assert timeout.status == py_trees.common.Status.SUCCESS
+    print("count.status == py_trees.common.Status.SUCCESS")
+    assert count.status == py_trees.common.Status.SUCCESS

From 53d1f002210c917b718890bc07aada90e2b5cac7 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 15:47:55 -0500
Subject: [PATCH 09/16] pre-commit

---
 src/imetro_behavior/imetro_behavior/decorators.py | 1 -
 src/imetro_behavior/tests/test_decorators.py      | 9 +++++----
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index 5cc4601..4c67ccb 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -142,7 +142,6 @@ def update(self) -> Status:
 
         current_time = time.monotonic()
 
-
         if self.decorated.status == common.Status.RUNNING and current_time > self.finish_time:
             self.feedback_message = "timed out"
             self.logger.debug(f"{self.__class__.__name__}.update() {self.feedback_message}")
diff --git a/src/imetro_behavior/tests/test_decorators.py b/src/imetro_behavior/tests/test_decorators.py
index a28089b..c59c4ab 100644
--- a/src/imetro_behavior/tests/test_decorators.py
+++ b/src/imetro_behavior/tests/test_decorators.py
@@ -90,11 +90,12 @@ def test_success_if_variable_is_false_ticks_child() -> None:
     assert decorator.status == Status.FAILURE
     assert child.status == Status.FAILURE
 
+
 def test_timeout() -> None:
     running = py_trees.behaviours.Running(name="Running")
     timeout = TimeoutPort(name="Timeout", child=running)
     timeout.setup_ports()
-    
+
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
     print(py_trees.display.unicode_tree(timeout))
@@ -127,7 +128,7 @@ def test_timeout() -> None:
     )
     timeout = TimeoutPort(name="Timeout", child=count)
     timeout.setup_ports()
-    
+
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
     print(py_trees.display.unicode_tree(timeout))
@@ -152,7 +153,7 @@ def test_timeout() -> None:
     failure = py_trees.behaviours.Failure(name="Failure")
     timeout = TimeoutPort(name="Timeout", child=failure)
     timeout.setup_ports()
-    
+
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
     print(py_trees.display.unicode_tree(timeout))
@@ -173,7 +174,7 @@ def test_timeout() -> None:
     )
     timeout = TimeoutPort(name="Timeout", child=count)
     timeout.setup_ports()
-        
+
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.1)
     print(py_trees.display.unicode_tree(timeout))
 

From 17b263b6e6dfd41cd50c053574bf08a9d49d0eb2 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 17:17:12 -0500
Subject: [PATCH 10/16] removed redundant import and it's usage

---
 src/imetro_behavior/imetro_behavior/decorators.py | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/decorators.py b/src/imetro_behavior/imetro_behavior/decorators.py
index 4c67ccb..a1a349c 100644
--- a/src/imetro_behavior/imetro_behavior/decorators.py
+++ b/src/imetro_behavior/imetro_behavior/decorators.py
@@ -22,7 +22,6 @@
 from py_trees.behaviour import Behaviour
 from py_trees.common import Status
 from py_trees.decorators import Decorator
-from py_trees import common
 from py_trees.ports import PortInformation, PortsMixin
 
 
@@ -142,13 +141,13 @@ def update(self) -> Status:
 
         current_time = time.monotonic()
 
-        if self.decorated.status == common.Status.RUNNING and current_time > self.finish_time:
+        if self.decorated.status == Status.RUNNING and current_time > self.finish_time:
             self.feedback_message = "timed out"
             self.logger.debug(f"{self.__class__.__name__}.update() {self.feedback_message}")
             # invalidate the decorated (i.e. cancel it), could also put this logic in a terminate() method
-            self.decorated.stop(common.Status.INVALID)
-            return common.Status.FAILURE
-        if self.decorated.status == common.Status.RUNNING:
+            self.decorated.stop(Status.INVALID)
+            return Status.FAILURE
+        if self.decorated.status == Status.RUNNING:
             self.feedback_message = f"time still ticking ... [remaining: {self.finish_time - current_time}s]"
         else:
             self.feedback_message = "child finished before timeout triggered"

From afa655cdaf3981202618c35f54e155ff8cc19818 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 17:35:40 -0500
Subject: [PATCH 11/16] added more specificity to ports

---
 .../imetro_behavior/geometry_behaviors.py              | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index e0719f7..27b7712 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -718,7 +718,7 @@ def update(self) -> Status:
 
 class PublishTwist(BehaviourWithPorts):
     """
-    Takes in `linear` and `angular` and converts them geometry_msgs/msg/Twist.
+    Takes in `linear` and `angular` velocities and converts them geometry_msgs/msg/Twist.
     Creates std_msgs/msg/Header from `frame_id` input and current ROS 2 timestamp.
     Combines both into geometry_msgs/msg/TwistStamped and publishes onto the `topic_name`.
     """
@@ -739,8 +739,8 @@ def __init__(
     def input_ports(cls) -> dict:
         """Return the input port declarations."""
         return {
-            "linear": PortInformation(data_type=list[float], required=True),
-            "angular": PortInformation(data_type=list[float], required=True),
+            "linear_velocity": PortInformation(data_type=list[float], required=True),
+            "angular_velocity": PortInformation(data_type=list[float], required=True),
             "frame_id": PortInformation(data_type=str, required=False),
         }
 
@@ -764,8 +764,8 @@ def update(self) -> Status:
 
             self.twist_stamped = TwistStamped()
 
-            linear = self.get_input("linear", [0.0, 0.0, 0.0])
-            angular = self.get_input("angular", [0.0, 0.0, 0.0])
+            linear = self.get_input("linear_velocity", [0.0, 0.0, 0.0])
+            angular = self.get_input("angular_velocity", [0.0, 0.0, 0.0])
 
             self.twist_stamped.twist.linear.x = linear[0]
             self.twist_stamped.twist.linear.y = linear[1]

From af4587965593ec0ae4202050248c3d0dd1b9f3c2 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 17:41:37 -0500
Subject: [PATCH 12/16] moved the message and publisher instantiation into
 inilize method

---
 .../imetro_behavior/geometry_behaviors.py     | 42 +++++++++----------
 1 file changed, 20 insertions(+), 22 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index 27b7712..7f5aab7 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -749,6 +749,25 @@ def output_ports(cls) -> dict:
         """Return the output port declarations."""
         return {}
 
+    def initialise(self) -> None:
+        """Create TwistStamped message publisher, assemble twist message."""
+        self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
+        self.twist_stamped = TwistStamped()
+
+        linear = self.get_input("linear_velocity", [0.0, 0.0, 0.0])
+        angular = self.get_input("angular_velocity", [0.0, 0.0, 0.0])
+
+        self.twist_stamped.twist.linear.x = linear[0]
+        self.twist_stamped.twist.linear.y = linear[1]
+        self.twist_stamped.twist.linear.z = linear[2]
+
+        self.twist_stamped.twist.angular.x = angular[0]
+        self.twist_stamped.twist.angular.y = angular[1]
+        self.twist_stamped.twist.angular.z = angular[2]
+
+        self.twist_stamped.header.stamp = self.node.get_clock().now().to_msg()
+        self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
+
     def setup(self, **kwargs):
         """Get the ROS node from the blackboard."""
         self.node = kwargs.get("node")
@@ -756,27 +775,6 @@ def setup(self, **kwargs):
             raise KeyError(f"A valid ROS node is required to setup the '{self.qualified_name}' node.")
 
     def update(self) -> Status:
-        """Assemble and publish twist stamped message."""
-        if self.publisher is None:
-            self.publisher = self.node.create_publisher(TwistStamped, self.topic_name, 1)
-
-        if self.twist_stamped is None:
-
-            self.twist_stamped = TwistStamped()
-
-            linear = self.get_input("linear_velocity", [0.0, 0.0, 0.0])
-            angular = self.get_input("angular_velocity", [0.0, 0.0, 0.0])
-
-            self.twist_stamped.twist.linear.x = linear[0]
-            self.twist_stamped.twist.linear.y = linear[1]
-            self.twist_stamped.twist.linear.z = linear[2]
-
-            self.twist_stamped.twist.angular.x = angular[0]
-            self.twist_stamped.twist.angular.y = angular[1]
-            self.twist_stamped.twist.angular.z = angular[2]
-
-            self.twist_stamped.header.stamp = self.node.get_clock().now().to_msg()
-            self.twist_stamped.header.frame_id = self.get_input("frame_id", "map")
-
+        """Publish twist stamped message."""
         self.publisher.publish(self.twist_stamped)
         return Status.SUCCESS

From a554d727e32a4e937fbe4682b6666a82ca639789 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 17:46:00 -0500
Subject: [PATCH 13/16] terminate for publishing twist

---
 src/imetro_behavior/imetro_behavior/geometry_behaviors.py | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index 7f5aab7..c411f9b 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -778,3 +778,8 @@ def update(self) -> Status:
         """Publish twist stamped message."""
         self.publisher.publish(self.twist_stamped)
         return Status.SUCCESS
+
+    def terminate(self, new_status: Status) -> Status:
+      """Cleanup the publisher"""
+      if self.status == Status.RUNNING and new_status == Status.INVALID:
+        self.publisher.destroy()

From 0775ac8f1ac2ee3558e3d9c89d845a90660d7c99 Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 17:46:56 -0500
Subject: [PATCH 14/16] pre-commit

---
 src/imetro_behavior/imetro_behavior/geometry_behaviors.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
index c411f9b..a49a0b5 100644
--- a/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
+++ b/src/imetro_behavior/imetro_behavior/geometry_behaviors.py
@@ -780,6 +780,6 @@ def update(self) -> Status:
         return Status.SUCCESS
 
     def terminate(self, new_status: Status) -> Status:
-      """Cleanup the publisher"""
-      if self.status == Status.RUNNING and new_status == Status.INVALID:
-        self.publisher.destroy()
+        """Cleanup the publisher"""
+        if self.status == Status.RUNNING and new_status == Status.INVALID:
+            self.publisher.destroy()

From a3180fd4094187e05db779dc5c7e237e4c9ef37c Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 18:12:08 -0500
Subject: [PATCH 15/16] pared things down a bit

---
 src/imetro_behavior/tests/test_decorators.py | 88 +++++++-------------
 1 file changed, 29 insertions(+), 59 deletions(-)

diff --git a/src/imetro_behavior/tests/test_decorators.py b/src/imetro_behavior/tests/test_decorators.py
index c59c4ab..ff57f89 100644
--- a/src/imetro_behavior/tests/test_decorators.py
+++ b/src/imetro_behavior/tests/test_decorators.py
@@ -93,104 +93,74 @@ def test_success_if_variable_is_false_ticks_child() -> None:
 
 def test_timeout() -> None:
     running = py_trees.behaviours.Running(name="Running")
+
     timeout = TimeoutPort(name="Timeout", child=running)
     timeout.setup_ports()
-
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
-    print(py_trees.display.unicode_tree(timeout))
-    visitor = py_trees.visitors.DebugVisitor()
-
     # Test that it times out and re-initialises properly
     for i in range(0, 2):
-        py_trees.tests.tick_tree(timeout, 2 * i + 1, 2 * i + 1, visitors=[visitor])
+        timeout.tick_once()
 
-        print("\n--------- Assertions ---------\n")
-        print("timeout.status == py_trees.common.Status.RUNNING")
-        assert timeout.status == py_trees.common.Status.RUNNING
-        print("running.status == py_trees.common.Status.RUNNING")
-        assert running.status == py_trees.common.Status.RUNNING
+        assert timeout.status == Status.RUNNING
+        assert running.status == Status.RUNNING
 
         time.sleep(0.3)
-        py_trees.tests.tick_tree(timeout, 2 * i + 2, 2 * i + 2, visitors=[visitor])
 
-        print("\n--------- Assertions ---------\n")
-        print("timeout.status == py_trees.common.Status.FAILURE")
-        assert timeout.status == py_trees.common.Status.FAILURE
-        print("running.status == py_trees.common.Status.INVALID")  # type: ignore[unreachable]
-        assert running.status == py_trees.common.Status.INVALID
+        timeout.tick_once()
+
+        assert timeout.status == Status.FAILURE
+        assert running.status == Status.INVALID
 
     # test that it passes on success
     count = py_trees.behaviours.StatusQueue(
         name="Queue",
-        queue=[py_trees.common.Status.RUNNING],
-        eventually=py_trees.common.Status.SUCCESS,
+        queue=[Status.RUNNING],
+        eventually=Status.SUCCESS,
     )
+
     timeout = TimeoutPort(name="Timeout", child=count)
     timeout.setup_ports()
-
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
-    print(py_trees.display.unicode_tree(timeout))
+    timeout.tick_once()
+    assert timeout.status == Status.RUNNING
+    assert count.status == Status.RUNNING
 
-    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
-
-    print("\n--------- Assertions ---------\n")
-    print("timeout.status == py_trees.common.Status.RUNNING")
-    assert timeout.status == py_trees.common.Status.RUNNING
-    print("count.status == py_trees.common.Status.RUNNING")
-    assert count.status == py_trees.common.Status.RUNNING
-
-    py_trees.tests.tick_tree(timeout, 2, 2, visitors=[visitor])
-
-    print("\n--------- Assertions ---------\n")
-    print("timeout.status == py_trees.common.Status.SUCCESS")
-    assert timeout.status == py_trees.common.Status.SUCCESS
-    print("count.status == py_trees.common.Status.SUCCESS")  # type: ignore[unreachable]
-    assert count.status == py_trees.common.Status.SUCCESS
+    timeout.tick_once()
+    assert timeout.status == Status.SUCCESS
+    assert count.status == Status.SUCCESS
 
     # test that it passes on failure
     failure = py_trees.behaviours.Failure(name="Failure")
+
     timeout = TimeoutPort(name="Timeout", child=failure)
     timeout.setup_ports()
-
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
-    print(py_trees.display.unicode_tree(timeout))
-
-    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
+    timeout.tick_once()
 
-    print("\n--------- Assertions ---------\n")
-    print("timeout.status == py_trees.common.Status.FAILURE")
-    assert timeout.status == py_trees.common.Status.FAILURE
-    print("failure.status == py_trees.common.Status.FAILURE")
-    assert failure.status == py_trees.common.Status.FAILURE
+    assert timeout.status == Status.FAILURE
+    assert failure.status == Status.FAILURE
 
     # test that it succeeds if child succeeds on last tick
     count = py_trees.behaviours.StatusQueue(
         name="Queue",
-        queue=[py_trees.common.Status.RUNNING],
-        eventually=py_trees.common.Status.SUCCESS,
+        queue=[Status.RUNNING],
+        eventually=Status.SUCCESS,
     )
     timeout = TimeoutPort(name="Timeout", child=count)
     timeout.setup_ports()
 
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.1)
-    print(py_trees.display.unicode_tree(timeout))
 
-    py_trees.tests.tick_tree(timeout, 1, 1, visitors=[visitor])
+    timeout.tick_once()
 
-    print("\n--------- Assertions ---------\n")
-    print("timeout.status == py_trees.common.Status.RUNNING")
-    assert timeout.status == py_trees.common.Status.RUNNING
-    print("count.status == py_trees.common.Status.RUNNING")
-    assert count.status == py_trees.common.Status.RUNNING
+    assert timeout.status == Status.RUNNING
+    assert count.status == Status.RUNNING
 
     time.sleep(0.2)  # go past the duration
-    py_trees.tests.tick_tree(timeout, 2, 2, visitors=[visitor])
+    timeout.tick_once()
 
-    print("\n--------- Assertions ---------\n")
-    print("timeout.status == py_trees.common.Status.SUCCESS")
-    assert timeout.status == py_trees.common.Status.SUCCESS
-    print("count.status == py_trees.common.Status.SUCCESS")
-    assert count.status == py_trees.common.Status.SUCCESS
+    assert timeout.status == Status.SUCCESS
+    assert count.status == Status.SUCCESS

From 434fc1a954b92ca48473e22c9c730bc4ad6f8b7c Mon Sep 17 00:00:00 2001
From: Misha Savchenko <misha.savchenko@nasa.gov>
Date: Tue, 25 Aug 2026 18:21:22 -0500
Subject: [PATCH 16/16] simplified and seperated the tests

---
 src/imetro_behavior/tests/test_decorators.py | 19 +++++++++++++------
 1 file changed, 13 insertions(+), 6 deletions(-)

diff --git a/src/imetro_behavior/tests/test_decorators.py b/src/imetro_behavior/tests/test_decorators.py
index ff57f89..4c18f2c 100644
--- a/src/imetro_behavior/tests/test_decorators.py
+++ b/src/imetro_behavior/tests/test_decorators.py
@@ -91,7 +91,7 @@ def test_success_if_variable_is_false_ticks_child() -> None:
     assert child.status == Status.FAILURE
 
 
-def test_timeout() -> None:
+def test_timeout_reinitialization() -> None:
     running = py_trees.behaviours.Running(name="Running")
 
     timeout = TimeoutPort(name="Timeout", child=running)
@@ -112,6 +112,8 @@ def test_timeout() -> None:
         assert timeout.status == Status.FAILURE
         assert running.status == Status.INVALID
 
+
+def test_timeout_passthrough_success() -> None:
     # test that it passes on success
     count = py_trees.behaviours.StatusQueue(
         name="Queue",
@@ -124,13 +126,15 @@ def test_timeout() -> None:
     Blackboard.set(timeout._get_blackboard_key("duration"), 0.2)
 
     timeout.tick_once()
-    assert timeout.status == Status.RUNNING
     assert count.status == Status.RUNNING
+    assert timeout.status == Status.RUNNING
 
     timeout.tick_once()
-    assert timeout.status == Status.SUCCESS
     assert count.status == Status.SUCCESS
+    assert timeout.status == Status.SUCCESS
+
 
+def test_timeout_passthrough_failure() -> None:
     # test that it passes on failure
     failure = py_trees.behaviours.Failure(name="Failure")
 
@@ -140,9 +144,11 @@ def test_timeout() -> None:
 
     timeout.tick_once()
 
-    assert timeout.status == Status.FAILURE
     assert failure.status == Status.FAILURE
+    assert timeout.status == Status.FAILURE
+
 
+def test_timeout_status_passthrough_order() -> None:
     # test that it succeeds if child succeeds on last tick
     count = py_trees.behaviours.StatusQueue(
         name="Queue",
@@ -156,11 +162,12 @@ def test_timeout() -> None:
 
     timeout.tick_once()
 
-    assert timeout.status == Status.RUNNING
     assert count.status == Status.RUNNING
+    assert timeout.status == Status.RUNNING
 
     time.sleep(0.2)  # go past the duration
+
     timeout.tick_once()
 
-    assert timeout.status == Status.SUCCESS
     assert count.status == Status.SUCCESS
+    assert timeout.status == Status.SUCCESS