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fix(behavior_path_planner): use SUCCESS instead of IDLE when onExit #2391

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merged 1 commit into from
Nov 30, 2022
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fix(behavior_path_planner): use SUCCESS instead of IDLE when onExit #2391

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2 changes: 1 addition & 1 deletion ...ath_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ struct SceneModuleStatus
bool is_requested{false};
bool is_execution_ready{false};
bool is_waiting_approval{false};
BT::NodeStatus status{BT::NodeStatus::IDLE};
BT::NodeStatus status{BT::NodeStatus::SUCCESS};
};

class SceneModuleBTNodeInterface : public BT::CoroActionNode
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2 changes: 1 addition & 1 deletion ...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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Expand Up @@ -87,7 +87,7 @@ class SceneModuleInterface
clock_{node.get_clock()},
uuid_(generateUUID()),
is_waiting_approval_{false},
current_state_{BT::NodeStatus::IDLE}
current_state_{BT::NodeStatus::SUCCESS}
{
std::string module_ns;
module_ns.resize(name.size());
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
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Expand Up @@ -2645,7 +2645,7 @@ void AvoidanceModule::onExit()
{
DEBUG_PRINT("AVOIDANCE onExit");
initVariables();
current_state_ = BT::NodeStatus::IDLE;
current_state_ = BT::NodeStatus::SUCCESS;
clearWaitingApproval();
removeRTCStatus();
steering_factor_interface_ptr_->clearSteeringFactors();
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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
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Expand Up @@ -65,7 +65,7 @@ void LaneFollowingModule::onEntry()
void LaneFollowingModule::onExit()
{
initParam();
current_state_ = BT::NodeStatus::IDLE;
current_state_ = BT::NodeStatus::SUCCESS;
RCLCPP_DEBUG(getLogger(), "LANE_FOLLOWING onExit");
}

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
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Expand Up @@ -100,7 +100,7 @@ void PullOutModule::onExit()
clearWaitingApproval();
removeRTCStatus();
steering_factor_interface_ptr_->clearSteeringFactors();
current_state_ = BT::NodeStatus::IDLE;
current_state_ = BT::NodeStatus::SUCCESS;
RCLCPP_DEBUG(getLogger(), "PULL_OUT onExit");
}

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1 change: 0 additions & 1 deletion planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
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Expand Up @@ -184,7 +184,6 @@ void PullOverModule::onExit()
steering_factor_interface_ptr_->clearSteeringFactors();

// A child node must never return IDLE
// https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/include/behaviortree_cpp_v3/basic_types.h#L34
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@kosuke55 kosuke55 Nov 28, 2022 •
edited
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the link is already invalid now.
it moved to https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/include/behaviortree_cpp/basic_types.h#L35, but remove it considering the maintenance cost

current_state_ = BT::NodeStatus::SUCCESS;
}

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2 changes: 1 addition & 1 deletion planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
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Expand Up @@ -63,7 +63,7 @@ void SideShiftModule::onExit()
// write me...
initVariables();

current_state_ = BT::NodeStatus::IDLE;
current_state_ = BT::NodeStatus::SUCCESS;
}

void SideShiftModule::setParameters(const SideShiftParameters & parameters)
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