[BtActionNode] [BtServiceNode] clear between calls (ros-navigation#4887)

Signed-off-by: Guillaume Doisy <guillaume@dexory.com> Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
quasi-robotics · Feb 5, 2025 · 4c77495 · 4c77495
1 parent 3111c04
commit 4c77495
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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
@@ -194,6 +194,10 @@ class BtActionNode : public BT::ActionNodeBase
       // reset the flag to send the goal or not, allowing the user the option to set it in on_tick
       should_send_goal_ = true;
 
+      // Clear the input and output messages to make sure we have no leftover from previous calls
+      goal_ = typename ActionT::Goal();
+      result_ = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult();
+
       // user defined callback, may modify "should_send_goal_".
       on_tick();
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -138,6 +138,9 @@ class BtServiceNode : public BT::ActionNodeBase
       // allowing the user the option to set it in on_tick
       should_send_request_ = true;
 
+      // Clear the input request to make sure we have no leftover from previous calls
+      request_ = std::make_shared<typename ServiceT::Request>();
+
       // user defined callback, may modify "should_send_request_".
       on_tick();