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AMRNAV-4638 fix missing behavior tree logs #26

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Merged
merged 2 commits into from
May 3, 2023
Merged

AMRNAV-4638 fix missing behavior tree logs #26

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21052e5
AMRNAV-4638 behavior tree logs
jplapp May 3, 2023
015c164
cleanup
jplapp May 3, 2023
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2 changes: 2 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <memory>
#include <string>
#include <vector>
#include "rclcpp/rclcpp.hpp"

#include "behaviortree_cpp_v3/behavior_tree.h"
#include "behaviortree_cpp_v3/bt_factory.h"
Expand Down Expand Up @@ -61,6 +62,7 @@ class BehaviorTreeEngine
BT::Tree * tree,
std::function<void()> onLoop,
std::function<bool()> cancelRequested,
rclcpp::Logger logger,
std::chrono::milliseconds loopTimeout = std::chrono::milliseconds(10));

/**
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5 changes: 4 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Expand Up @@ -243,8 +243,11 @@ void BtActionServer<ActionT>::executeCallback()
};

// Execute the BT that was previously created in the configure step
nav2_behavior_tree::BtStatus rc = bt_->run(tree_, on_loop, is_canceling, bt_loop_duration_);
nav2_behavior_tree::BtStatus rc = bt_->run(tree_, on_loop, is_canceling, logger_, bt_loop_duration_);

// send remaining logs
topic_logger_->flush();

// Make sure that the Bt is not in a running state from a previous execution
// note: if all the ControlNodes are implemented correctly, this is not needed.
bt_->haltAllActions(tree_->rootNode());
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3 changes: 2 additions & 1 deletion nav2_behavior_tree/src/behavior_tree_engine.cpp
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Expand Up @@ -38,6 +38,7 @@ BehaviorTreeEngine::run(
BT::Tree * tree,
std::function<void()> onLoop,
std::function<bool()> cancelRequested,
rclcpp::Logger logger,
std::chrono::milliseconds loopTimeout)
{
rclcpp::WallRate loopRate(loopTimeout);
Expand All @@ -59,7 +60,7 @@ BehaviorTreeEngine::run(
}
} catch (const std::exception & ex) {
RCLCPP_ERROR(
rclcpp::get_logger("BehaviorTreeEngine"),
logger,
"Behavior tree threw exception: %s. Exiting with failure.", ex.what());
return BtStatus::FAILED;
}
Expand Down