Provide bt result #2998
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Provide bt result #2998
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@mradams-bastian, please properly fill in PR template in the future. @SteveMacenski, use this instead.
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To give a heads up, there are some linter issues, that you might want to fix.. see the details in the release test. You can also get those results locally by simply running |
SteveMacenski
requested changes
Jun 3, 2022
nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_to_pose.hpp
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nav2_bt_navigator/include/nav2_bt_navigator/navigators/navigate_through_poses.hpp
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K, I'll get those fixed soon |
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Toggling for CI, it didn't trigger for some reason |
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Thanks @mradams-bastian! |
redvinaa
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to EnjoyRobotics/navigation2
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Jun 30, 2022
* Added goal accepted check before flagging navigator as running * Added final bt status as a parameter to goal completed callback of navigators (for reference) * Formatting for line length * Fixed indentation formatting * Fixed indentation formatting
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Basic Info
Description of contribution in a few bullet points
Added input parameter 'final_bt_status' of type nav2_behavior_tree::BtStatus to the goalCompleted() function of navigator.hpp that makes the final status of the behavior tree run available to the navigator. This could provide the navigator with important context while populating the result and doing anything else it might do during that function.
None of the navigators that are included in nav2 currently do anything with this goalCompleted() function, but this could be a nice feature for developers who are creating their own custom navigators, and the current nav2 navigators may also benefit from this feature in the future. For example, a parameter in the result message could provide some context to the client as to whether an aborted result corresponds to a preemption or a behavior tree failure.
For Maintainers: