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Check if goal_status_ is valid. #2305

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Check if goal_status_ is valid. #2305

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e95a229
Check if goal_status_ is valid.
tzskp1 Apr 8, 2021
d77e5b9
Get rid of unnecessarily check.
tzskp1 Apr 13, 2021
09d2ea9
Revert "Get rid of unnecessarily check."
tzskp1 Apr 13, 2021
cdcebf9
Reset goal_handle_ due to validation.
tzskp1 Apr 16, 2021
7877a12
guard condition of goal_handle_
tzskp1 Apr 16, 2021
d7beb71
Care of first tick
tzskp1 Apr 17, 2021
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7 changes: 5 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -232,6 +232,9 @@ class BtActionNode : public BT::ActionNodeBase
}

setStatus(BT::NodeStatus::IDLE);
if (goal_handle_) {
goal_handle_.reset();
}
}

protected:
Expand All @@ -242,7 +245,7 @@ class BtActionNode : public BT::ActionNodeBase
bool should_cancel_goal()
{
// Shut the node down if it is currently running
if (status() != BT::NodeStatus::RUNNING) {
if (status() != BT::NodeStatus::RUNNING || !goal_handle_) {
return false;
}

Expand All @@ -266,7 +269,7 @@ class BtActionNode : public BT::ActionNodeBase
// TODO(#1652): a work around until rcl_action interface is updated
// if goal ids are not matched, the older goal call this callback so ignore the result
// if matched, it must be processed (including aborted)
if (this->goal_handle_->get_goal_id() == result.goal_id) {
if (!this->goal_handle_ || (this->goal_handle_->get_goal_id() == result.goal_id)) {
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@tzskp1 tzskp1 Apr 17, 2021

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!this->goal_handle_ is if and only if first tick.

goal_result_available_ = true;
result_ = result;
}
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