Nav2 single trigger node test fail-> halt does not does not convert state to idle #3310
Description
Bug report
Required Info:
- Operating System: ubuntu 22
- ROS2 Version: rolling
- Version or commit hash:
- DDS implementation:
Steps to reproduce issue
- Building current nav2 codebase
Expected behavior
All test should pass
Actual behavior
/opt/overlay_ws/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:75
Expected equality of these values:
bt_node_->executeTick()
Which is: FAILURE
BT::NodeStatus::RUNNING
Which is: RUNNING/opt/overlay_ws/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:77
Expected equality of these values:
bt_node_->executeTick()
Which is: FAILURE
BT::NodeStatus::SUCCESS
Which is: SUCCESS
Additional information
- I tried debuging to finding the root of the issue, it seem that the halt function does not change the bt node to idle, it just remains in failure. The single node plugin is acting as it is supposed to.
This is bad debugging style but It shows what I mean, for example the test for the single node plugins,
std::cout << "Testing from here" << std::endl;
std::cout << "Dummy node -> Status() :" << dummy_node_->status() << std::endl;
std::cout << "Bt node -> Status() :" << bt_node_->status() << std::endl;
bt_node_->halt();
std::cout << "Dummy node -> Status() :" << dummy_node_->status() << std::endl;
std::cout << "Bt node -> Status() :" << bt_node_->status() << std::endl;
dummy_node_->changeStatus(BT::NodeStatus::RUNNING);
std::cout << "Dummy node -> Status() :" << dummy_node_->status() << std::endl;
std::cout << "Bt node -> Status() :" << bt_node_->status() << std::endl;
EXPECT_EQ(bt_node_->executeTick(), BT::NodeStatus::RUNNING);
std::cout << "Dummy node -> Status() :" << dummy_node_->status() << std::endl;
std::cout << "Bt node -> Status() :" << bt_node_->status() << std::endl;
dummy_node_->changeStatus(BT::NodeStatus::SUCCESS);
std::cout << "Dummy node -> Status() :" << dummy_node_->status() << std::endl;
std::cout << "Bt node -> Status() :" << bt_node_->status() << std::endl;
As you will see below, the bt node is never able to back to idle.
Here: SUCCESS
23: Testing from here
23: Dummy node -> Status() :IDLE
23: Bt node -> Status() :FAILURE
23: Dummy node -> Status() :IDLE
23: Bt node -> Status() :FAILURE
23: Dummy node -> Status() :RUNNING
23: Bt node -> Status() :FAILURE
23: /opt/overlay_ws/src/navigation2/nav2_behavior_tree/test/plugins/decorator/test_single_trigger_node.cpp:83: Failure
23: Expected equality of these values:
23: bt_node_->executeTick()
23: Which is: FAILURE
23: BT::NodeStatus::RUNNING
23: Which is: RUNNING
23: Dummy node -> Status() :RUNNING
23: Bt node -> Status() :FAILURE
23: Dummy node -> Status() :SUCCESS
23: Bt node -> Status() :FAILURE
23: [ FAILED ] SingleTriggerTestFixture.test_behavior (0 ms)
23: [----------] 1 test from SingleTriggerTestFixture (0 ms total)
23:
23: [----------] Global test environment tear-down
23: [==========] 1 test from 1 test suite ran. (115 ms total)
23: [ PASSED ] 0 tests.
23: [ FAILED ] 1 test, listed below:
23: [ FAILED ] SingleTriggerTestFixture.test_behavior
23:
23: 1 FAILED TEST
23: -- run_test.py: return code 1