From 492d80a56e20d9a86537bf5062414dba48db58e5 Mon Sep 17 00:00:00 2001
From: Aitor Miguel Blanco <aitormibl@gmail.com>
Date: Mon, 20 Apr 2020 10:59:37 +1000
Subject: [PATCH] Set node status to idle on halt (#1622)

Signed-off-by: Aitor Miguel Blanco <aitormibl@gmail.com>
---
 nav2_behavior_tree/plugins/control/recovery_node.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/nav2_behavior_tree/plugins/control/recovery_node.cpp b/nav2_behavior_tree/plugins/control/recovery_node.cpp
index 305079613b..49fdf2d0fb 100644
--- a/nav2_behavior_tree/plugins/control/recovery_node.cpp
+++ b/nav2_behavior_tree/plugins/control/recovery_node.cpp
@@ -144,6 +144,7 @@ class RecoveryNode : public BT::ControlNode
   void halt() override
   {
     ControlNode::haltChildren(1);
+    setStatus(BT::NodeStatus::IDLE);
     current_child_idx_ = 0;
     retry_count_ = 0;
   }