Feature request

Feature description

Add RunID Blackboard variable, and global version to Asynchronous nodes.
This feature should solve the issue where BT Nodes using !BT::isStatusActive(status()) to initialize are hard to use inside Reactive Control nodes. This is because, when a node reuturn RUNNING inside a Reactive control node, all other nodes are halted. In the next tick, halted nodes will not be active and will reinitialize again.

The idea is to keep a RunID variable which is incremented every time a BT navigator task starts (i.e. a new behavior tree is executed by a BT navigator). The problematic asynchronous nodes would then have a Global version which is only initialized when the RunID is changed (and not when !BT::isStatusActive(status())).

Implementation considerations

The global version of nodes could be implemented either:

• As separate classes (similar to GoalUpdatedCondition and GloballyUpdatedGoalCondition)
• With a Blackboard input flag in a single class loaded in the constructor
  • Personally I prefer this, as it reduces duplicated code, and reduces confusion about difference between similarly named nodes.

Related to:

Issue describing the issue and solution discussion: #4842
Original idea of using RunID: #2591 (comment)