Merge branch 'main' into fix/straight_coordinate_frames_humble

ros-navigation · Aug 9, 2023 · e37883c · e37883c
2 parents 6d54ff2 + c1e7713
commit e37883c
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/ros_topic_logger.hpp
@@ -69,6 +69,7 @@ class RosTopicLogger : public BT::StatusChangeLogger
  // before converting to a msg.
  event.timestamp = tf2_ros::toMsg(tf2::TimePoint(timestamp));
  event.node_name = node.name();
+ event.uid = node.UID();
  event.previous_status = toStr(prev_status, false);
  event.current_status = toStr(status, false);
  event_log_.push_back(std::move(event));

diff --git a/nav2_msgs/msg/BehaviorTreeStatusChange.msg b/nav2_msgs/msg/BehaviorTreeStatusChange.msg
@@ -1,4 +1,5 @@
-builtin_interfaces/Time timestamp # internal behavior tree event timestamp. Typically this is wall clock time
+builtin_interfaces/Time timestamp  # internal behavior tree event timestamp. Typically this is wall clock time
 string node_name
+uint16 uid # unique ID for this node
 string previous_status # IDLE, RUNNING, SUCCESS or FAILURE
 string current_status # IDLE, RUNNING, SUCCESS or FAILURE