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[BtActionNode] [BtServiceNode] clear between calls #4887

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merged 1 commit into from
Jan 30, 2025
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[BtActionNode] [BtServiceNode] clear between calls #4887

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4 changes: 4 additions & 0 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 @@ -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();

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3 changes: 3 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
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Expand Up @@ -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();

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