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Modify the BtServiceNode to include an on_success call. #2481

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Merged
merged 3 commits into from
Aug 4, 2021
Merged

Modify the BtServiceNode to include an on_success call. #2481

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7c4a00a
Modify the BtServiceNode to include an on_success call.
philison Jul 27, 2021
2bf1704
PR: Fix linter error by removing trailing whitespaces.
philison Jul 28, 2021
f9d6003
PR: Rename on_success() to on_completion() to improve understandability.
philison Jul 28, 2021
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13 changes: 12 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,16 @@ class BtServiceNode : public BT::ActionNodeBase
{
}

/**
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@SteveMacenski SteveMacenski Jul 27, 2021

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Please add to migration guide a new section on the Galactic page that we added this virtual function to allow for setting of codes after services return

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@philison philison Jul 28, 2021

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Are you referring to this file ?
Would the best way to edit it be to create a fork and than PR the changes ?

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@SteveMacenski SteveMacenski Jul 28, 2021 •
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https://github.com/ros-planning/navigation.ros.org/blob/master/migration/Galactic.rst this file, yes for and add changes for a PR would be best

* @brief Function to perform some user-defined operation upon successful
* completion of the service. Could put a value on the blackboard.
* @return BT::NodeStatus Returns SUCCESS by default, user may override to return another value
*/
virtual BT::NodeStatus on_completion()
{
return BT::NodeStatus::SUCCESS;
}

/**
* @brief Check the future and decide the status of BT
* @return BT::NodeStatus SUCCESS if future complete before timeout, FAILURE otherwise
Expand All @@ -158,7 +168,8 @@ class BtServiceNode : public BT::ActionNodeBase
rc = callback_group_executor_.spin_until_future_complete(future_result_, server_timeout_);
if (rc == rclcpp::FutureReturnCode::SUCCESS) {
request_sent_ = false;
return BT::NodeStatus::SUCCESS;
BT::NodeStatus status = on_completion();
return status;
}

if (rc == rclcpp::FutureReturnCode::TIMEOUT) {
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