Skip to content

Halt recovery action when main action succeeds to reset status #5027

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 2 commits into from
Apr 2, 2025
Merged

Halt recovery action when main action succeeds to reset status #5027

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1d7c052
Halt recovery action when main action succeeds to reset status
SteveMacenski Mar 27, 2025
eac4ff7
Update nav2_behavior_tree/plugins/control/recovery_node.cpp
SteveMacenski Mar 27, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions nav2_behavior_tree/plugins/control/recovery_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;

Expand Down
Loading