Add wrap_around parameter to RoundRobin node to control wrap-around behavior#5308
Merged
SteveMacenski merged 5 commits intomainfrom Dec 11, 2025
Merged
Add wrap_around parameter to RoundRobin node to control wrap-around behavior#5308SteveMacenski merged 5 commits intomainfrom
SteveMacenski merged 5 commits intomainfrom
Conversation
…ehavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes #5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>
Member
Author
|
@DylanDeCoeyer-Quimesis please review and test quickly to validate that this resolves your concern :-) |
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Codecov Report❌ Patch coverage is
... and 6 files with indirect coverage changes 🚀 New features to boost your workflow:
|
Member
Author
|
@DylanDeCoeyer-Quimesis can you please review? |
Member
Author
|
@SteveMacenski do a docs PR |
claude bot
added a commit
to ros-navigation/docs.nav2.org
that referenced
this pull request
Dec 11, 2025
- Add wrap_around parameter to RoundRobin configuration documentation - Add migration guide entry for the new parameter in Kilted.rst - Document breaking change: default behavior changed to non-wrap-around - Include usage examples and reference to configuration guide Implements documentation for ros-navigation/navigation2#5308 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>
SteveMacenski
added a commit
to ros-navigation/docs.nav2.org
that referenced
this pull request
Dec 11, 2025
…818) - Add wrap_around parameter to RoundRobin configuration documentation - Add migration guide entry for the new parameter in Kilted.rst - Document breaking change: default behavior changed to non-wrap-around - Include usage examples and reference to configuration guide Implements documentation for ros-navigation/navigation2#5308 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
pele1410
pushed a commit
to Metal-Shark-Sharktech/navigation2
that referenced
this pull request
Dec 30, 2025
…ehavior (ros-navigation#5308) * Add wrap_around parameter to RoundRobin node to control wrap-around behavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes ros-navigation#5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing BT unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>
Lotusymt
pushed a commit
to Lotusymt/navigation2
that referenced
this pull request
Jan 16, 2026
…ehavior (ros-navigation#5308) * Add wrap_around parameter to RoundRobin node to control wrap-around behavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes ros-navigation#5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing BT unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This PR implements the feature requested in #5033 to add a boolean parameter that controls whether the RoundRobin behavior tree node wraps around to its first child after the last one fails.
Changes
wrap_aroundboolean parameter (default: false) to RoundRobin nodewrap_around=false, node returns FAILURE instead of wrapping to first childProblem Solved
Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter when used in recovery sequences. The new default behavior (no wrap-around) ensures each recovery action is performed once and only once.
Fixes #5033
Generated with Claude Code - with a healthy amount of personal editing my myself