Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Fixing subtree issues with blackboard shared resources (3640) #3911

Merged
merged 2 commits into from
Oct 28, 2023
Merged

Fixing subtree issues with blackboard shared resources (3640) #3911

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
e46027f
fixing subtree issues
SteveMacenski Oct 28, 2023
a437f45
Update bt_action_server_impl.hpp
SteveMacenski Oct 28, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 5 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -231,6 +231,11 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
// Create the Behavior Tree from the XML input
try {
tree_ = bt_->createTreeFromFile(filename, blackboard_);
for (auto & blackboard : tree_.blackboard_stack) {
blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
}
} catch (const std::exception & e) {
RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
return false;
Expand Down