setStatus(BT::NodeStatus::IDLE) removed (ros-navigation#1602)

the removed code has no effect at all: the status of a node will be its returned value!. In general, you never set your status to IDLE, unless halted.
gimait · Mar 20, 2020 · 19e5b41 · 19e5b41
1 parent 951a2bb
commit 19e5b41
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -149,15 +149,12 @@ class BtActionNode : public BT::CoroActionNode
     switch (result_.code) {
       case rclcpp_action::ResultCode::SUCCEEDED:
         on_success();
-        setStatus(BT::NodeStatus::IDLE);
         return BT::NodeStatus::SUCCESS;
 
       case rclcpp_action::ResultCode::ABORTED:
-        setStatus(BT::NodeStatus::IDLE);
         return BT::NodeStatus::FAILURE;
 
       case rclcpp_action::ResultCode::CANCELED:
-        setStatus(BT::NodeStatus::IDLE);
         return BT::NodeStatus::SUCCESS;
 
       default: