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Enable reloading BT xml file with same name #4209

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merged 3 commits into from
Mar 25, 2024
Merged

Enable reloading BT xml file with same name #4209

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306ea18
Let BtActionServer overwrite xml
christophfroehlich Mar 25, 2024
d8e5319
Make a ROS parameter for it
christophfroehlich Mar 25, 2024
43bca51
Rename flag to always reload BT xml file
huemerj Mar 25, 2024
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -251,6 +251,9 @@ class BtActionServer
// The timeout value for waiting for a service to response
std::chrono::milliseconds wait_for_service_timeout_;

// should the BT be reloaded even if the same xml filename is requested?
bool always_reload_bt_xml_ = false;

// User-provided callbacks
OnGoalReceivedCallback on_goal_received_callback_;
OnLoopCallback on_loop_callback_;
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8 changes: 6 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Expand Up @@ -64,6 +64,9 @@ BtActionServer<ActionT>::BtActionServer(
if (!node->has_parameter("action_server_result_timeout")) {
node->declare_parameter("action_server_result_timeout", 900.0);
}
if (!node->has_parameter("always_reload_bt_xml")) {
node->declare_parameter("always_reload_bt_xml", false);
}
if (!node->has_parameter("wait_for_service_timeout")) {
node->declare_parameter("wait_for_service_timeout", 1000);
}
Expand Down Expand Up @@ -164,6 +167,7 @@ bool BtActionServer<ActionT>::on_configure()
int wait_for_service_timeout;
node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
node->get_parameter("always_reload_bt_xml", always_reload_bt_xml_);

// Get error code id names to grab off of the blackboard
error_code_names_ = node->get_parameter("error_code_names").as_string_array();
Expand Down Expand Up @@ -223,8 +227,8 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
// Empty filename is default for backward compatibility
auto filename = bt_xml_filename.empty() ? default_bt_xml_filename_ : bt_xml_filename;

// Use previous BT if it is the existing one
if (current_bt_xml_filename_ == filename) {
// Use previous BT if it is the existing one and always reload flag is not set to true
if (!always_reload_bt_xml_ && current_bt_xml_filename_ == filename) {
RCLCPP_DEBUG(logger_, "BT will not be reloaded as the given xml is already loaded");
return true;
}
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