Bug report

Required Info:

• Operating System:
  • Ubuntu 24.04
• ROS2 Version:
  • Jazzy / rolling
• Version or commit hash:
  • Source
• DDS implementation:
  • Cyclone

I have an problem since we moved to Jazzy, but its also happening in Rolling. Both installed from source.

I have a behavior tree where the battery level is checked before trying to undock the robot, similar to this one:

But I have to call the NavigateToPose action twice before the robot starts to move.

• On the first call, IsBatteryCharging returns FALSE, so the other branch of the BT is executed. As the robot is docked, the global result is a failure.
• On the second call, IsBatteryCharging returns SUCCESS, performing the undocking action and moving as usual.

After checking the code here, I noticed that the batteryCallback is never executed in the first call, but it is in the second one. I think it's because this spin_some doesn't spin the first time.

After reading other code, I found a similar problem fixed with a double call:

I'm not sure if this is fixed or not because putting another spin_some in the IsBatteryCharging BT fixed the problem.