ros-navigation · Mar 4, 2025
diff --git a/‎.gitignore
+16 b/‎.gitignore
+16
diff --git a/‎nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
+25-2 b/‎nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
+25-2
@@ -54,3 +54,19 @@ cmake-build-debug/
 
 # doxygen docs
 doc/html/
+# Vim Swap
+[._]*.s[a-v][a-z]
+[._]*.sw[a-p]
+[._]s[a-rt-v][a-z]
+[._]ss[a-gi-z]
+[._]sw[a-p]
+
+# Vim Persistent undo
+[._]*.un~
+
+# Vim Session
+Session.vim
+
+# Vim Temporary
+.netrwhist
+
@@ -188,6 +188,25 @@ class BtActionServer
     tree_.haltTree();
   }
 
+  /**
+   * @brief Set internal error code and message
+   * @param error_code the internal error code
+   * @param error_msg the internal error message
+   */
+  void setInternalError(uint16_t error_code, const std::string & error_msg);
+
+  /**
+   * @brief reset internal error code and message
+   */
+  void resetInternalError(void);
+
+  /**
+   * @brief populate result with internal error code and error_msg if not NONE
+   * @param result the action server result to be updated
+   * @return bool action server result was changed
+   */
+  bool populateInternalError(typename std::shared_ptr<typename ActionT::Result> result);
+
 protected:
   /**
    * @brief Action server callback
@@ -228,8 +247,8 @@ class BtActionServer
   // Libraries to pull plugins (BT Nodes) from
   std::vector<std::string> plugin_lib_names_;
 
-  // Error code id names
-  std::vector<std::string> error_code_names_;
+  // Error code name prefixes
+  std::vector<std::string> error_code_name_prefixes_;
 
   // A regular, non-spinning ROS node that we can use for calls to the action client
   rclcpp::Node::SharedPtr client_node_;
@@ -263,6 +282,10 @@ class BtActionServer
   OnLoopCallback on_loop_callback_;
   OnPreemptCallback on_preempt_callback_;
   OnCompletionCallback on_completion_callback_;
+
+  // internal error tracking (IOW not behaviorTree blackboard errors)
+  uint16_t internal_error_code_;
+  std::string internal_error_msg_;
 };
 
 }  // namespace nav2_behavior_tree