Use native library haltTree()#3950
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SteveMacenski merged 2 commits intoros-navigation:mainfrom Nov 10, 2023
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #3950 +/- ##
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- Coverage 90.30% 90.05% -0.26%
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Files 415 415
Lines 18450 18444 -6
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- Hits 16662 16610 -52
- Misses 1788 1834 +46
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SteveMacenski
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I see no downside - why a draft?
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Switching to PR ;) |
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I guess a note on the migration guide ? |
doisyg
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Honestly not sure if that was worth a migration guide doc since its not actionable to users, but I'll always default to more docs over less docs 😉 |
jwallace42
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* Use native library haltTree() * lint --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: gg <josho.wallace@gmail.com>
enricosutera
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* Use native library haltTree() * lint --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com> Signed-off-by: enricosutera <enricosutera@outlook.com>
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* Use native library haltTree() * lint --------- Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
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Basic Info
Description of contribution in a few bullet points
As discussed, draft to open the discussion.
Update to use the the native cpp library
haltTree()method inBehaviorTreeEngine::haltAllActions.https://github.com/BehaviorTree/BehaviorTree.CPP/blob/61c55ed720e0630f211686b3830942ae27e90501/include/behaviortree_cpp_v3/bt_factory.h#L162-L179
Before this change, only the active BT node was halted when finishing the action. After this change, all BT nodes
halt()methods are called. This is very convenient to handle cleaning operation (switch off your lights when leaving) in halt().Also updated
nav2_behavior_tree::BtActionServer::haltTree()to use the same. It is used nowhere in nav2 but is useful for external users (like me) that want for instance to halt the tree on preemption.Description of documentation updates required from your changes
Future work that may be required in bullet points
For Maintainers: