Feature request

Feature description

Currently, an action request timeout occurring in the BtActionNode parent class triggers the failure of the node without setting any code ID in the error_code_id output port. I think that an error code should be propagated.

Implementation considerations

I see at least two options:

• make BtActionNode aware of the error_code_id output port, and set a generic error code ID directly from BtActionNode,
• catch the failure at the child node level, and set the error_code_id directly from the child node. Typically, with CustomNode inheriting from BtActionNode:

BT::NodeStatus CustomNode::tick()
{
    BT::NodeStatus status = BtActionNode::tick();

    if (status == BT::NodeStatus::FAILURE)
    {
        setOutput("error_code_id", ERROR_CODE_REQUEST_TIMEOUT);
    }

    return status;
}

This latter implementation assumes that any failure triggered by BtActionNode's tick() function is due to a request timeout.