Description
Hello everyone,
I've made a comment on a previously merged PR #194, Where I was having trouble running Nav2 goal in rviz after editing and saving navigate_to_pose_w_replanning_and_recovery.xml file. Since I haven't gotten a response, I thought I'd create a new issue for it.
Here's my comment:
Hi all!
I was learning behavior tree and was trying to add some dummy sequence node on
navigate_to_pose_w_replanning_and_recovery.xmlthrough Groot. I specifically added the sequence node on the navigation subtree of Navigate To Pose With Replanning and Recovery¶. In this sequence I tried to do two spins before pipelinesequence gets ticked.Here's how my tree looks like
However, the problem I've faced was that when I saved this BT from groot, the underlying custom nodes in the xml changed into this parsing xml format mentioned in this PR. for example
<PipelineSequence name="NavigateWithReplanning">changed to this<Control ID="PipelineSequence" name="NavigateWithReplanning">as well as all the other custom nodes.When I run Nav2 and tried Nav2 goal in rviz, nav2 computes the path to pose but never follows that path. It just goes into the Recovery Subtree¶. So I tried adding the sequence with the two spins by directly editing the navigate_to_pose_w_replanning_and_recovery.xml file instead of editing and saving it in Groot. I was able to achieve the behaviour I was looking for where the robot spins and then follows the computed path when Nav2 goal is selected in rviz.
I was wondering if anyone faced this issue when editing nav2 custom nodes in groot?
Note: this issue was persistent even when I loaded navigate_to_pose_w_replanning_and_recovery tree in groot and saved it without adding any additional nodes.
