ReactiveSequence

[JonasTietz]

Hello,
is there a way right now to have a ReactiveSequence, which does not tick the next children of one nodes returns RUNNING. Basically I want the reactive behavior, where the sequence always starts ticking from the beginning (so Sequence and SequenceStart are no option) but I still want the nodes to execute one after another.
Am I missing something or is this a niche usecase, which I schould implement myself?

[miccol]

Hi Jonas, thank you spotting this.

Am I missing something or is this a niche usecase, which I schould implement myself?

It not a niche usecase but in fact one of the main features of a reactive sequence. The library used to have (reactive) sequence nodes with the behavior you describe. Maybe something changed with the Version 3? @facontidavide.

Probably adding a haltChildren(index + 1); and return NodeStatus::RUNNING; after this case may solve the issue.

BehaviorTree.CPP/src/controls/reactive_sequence.cpp

Lines 30 to 33 in 26a5fce

	case NodeStatus::RUNNING:
	{
	running_count++;
	}break;

[facontidavide]

Hi @miccol

you are 100% right. That is totally a brain fart from my side. I will fix it

[facontidavide]

Nevertheless, I still need to find a good solution for the problem mentioned in #71, i.e that Reactive nodes can't have multiple asynchronous children...

[miccol]

Nevertheless, I still need to find a good solution for the problem mentioned in #71, i.e that Reactive nodes can't have multiple asynchronous children...

I have an idea about that, but it makes some assumptions on the children. Shall we discuss it on a separated issue?

[facontidavide]

discussion moved to #83

[MarcelSoler]

Hi!
Something similar is happening to me. I have the following reactive sequence:

ExPath return running on the first tick and then is never ticked again... Getpath is ticked properlly all the time (it returns succed).

I am using ros melodic and ros-melodic-behaviortree-cpp-v3.