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Fix merge conflict error from humble sync 6 #3619

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merged 1 commit into from
Jun 9, 2023
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Fix merge conflict error from humble sync 6 #3619

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10 changes: 8 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ class BtActionNode : public BT::ActionNodeBase
const std::string & xml_tag_name,
const std::string & action_name,
const BT::NodeConfiguration & conf)
: BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name)
: BT::ActionNodeBase(xml_tag_name, conf), action_name_(action_name), should_send_goal_(true)
{
node_ = config().blackboard->template get<rclcpp::Node::SharedPtr>("node");
callback_group_ = node_->create_callback_group(
Expand Down Expand Up @@ -190,7 +190,10 @@ class BtActionNode : public BT::ActionNodeBase
// setting the status to RUNNING to notify the BT Loggers (if any)
setStatus(BT::NodeStatus::RUNNING);

// user defined callback
// reset the flag to send the goal or not, allowing the user the option to set it in on_tick
should_send_goal_ = true;

// user defined callback, may modify "should_send_goal_".
on_tick();

if (!should_send_goal_) {
Expand Down Expand Up @@ -449,6 +452,9 @@ class BtActionNode : public BT::ActionNodeBase
std::shared_ptr<std::shared_future<typename rclcpp_action::ClientGoalHandle<ActionT>::SharedPtr>>
future_goal_handle_;
rclcpp::Time time_goal_sent_;

// Can be set in on_tick or on_wait_for_result to indicate if a goal should be sent.
bool should_send_goal_;
};

} // namespace nav2_behavior_tree
Expand Down