Halt recovery action when main action succeeds to reset status (ros-navigation#5027)

* Halt recovery action when main action succeeds to reset status

Signed-off-by: Steve Macenski <[email protected]>

* Update nav2_behavior_tree/plugins/control/recovery_node.cpp

Signed-off-by: Steve Macenski <[email protected]>

---------

Signed-off-by: Steve Macenski <[email protected]>
Signed-off-by: Sakshay Mahna <[email protected]>

Author: SteveMacenski

nav2_behavior_tree/plugins/control/recovery_node.cpp

@@ -52,6 +52,8 @@ BT::NodeStatus RecoveryNode::tick()
 
         case BT::NodeStatus::SUCCESS:
           // reset node and return success when first child returns success
+          // also halt the recovery action as the main action is successful, reset its state
+          ControlNode::haltChild(1);
           halt();
           return BT::NodeStatus::SUCCESS;