Allow access to action feedback in nav2_behavior_tree::BtActionNode::on_wait_for_result #2972
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…on_wait_for_result
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@naiveHobo, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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@naiveHobo, your PR has failed to build. Please check CI outputs and resolve issues. |
SteveMacenski
requested changes
May 27, 2022
nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
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SteveMacenski
approved these changes
May 27, 2022
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@naiveHobo there are a number of linting errors https://app.circleci.com/pipelines/github/ros-planning/navigation2/7360/workflows/be8d4050-1fd7-4b75-b4f3-771e0b431821/jobs/25981 |
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@SteveMacenski Ah, fixed. Sorry about that, I have not been linting too much. 😅 |
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No worries! |
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Great feature! Are there any plans to backport this to Galactic? |
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No, it breaks ABI |
redvinaa
pushed a commit
to EnjoyRobotics/navigation2
that referenced
this pull request
Jun 30, 2022
…on_wait_for_result (ros-navigation#2972) * Allow access to action feedback in nav2_behavior_tree::BtActionNode::on_wait_for_result * Improve function signatures and remove mutex locks * Remove getFeedback() * Fix lint errors
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Basic Info
Description of contribution in a few bullet points
nav2_behavior_tree::BtActionNode::on_wait_for_result(feedback)allows access to a shared_ptr to the latest feedback messageDescription of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: