Skip to content

Revert double spin#5477

Merged
SteveMacenski merged 3 commits intoros-navigation:mainfrom
mini-1235:revert-double-spin
Aug 27, 2025
Merged

Revert double spin#5477
SteveMacenski merged 3 commits intoros-navigation:mainfrom
mini-1235:revert-double-spin

Conversation

@mini-1235
Copy link
Collaborator

@mini-1235 mini-1235 commented Aug 22, 2025 •
edited
Loading

Basic Info

Info Please fill out this column
Ticket(s) this addresses #4567
Primary OS tested on Ubuntu
Robotic platform tested on (Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software? No
Was this PR description generated by AI software? Out of respect for maintainers, AI for human-to-human communications are banned

Description of contribution in a few bullet points

  • Revert double spin, this has been solved in the latest release
  • Change spin some to spin all, to make sure the node has the latest message update

Description of documentation updates required from your changes

None

Description of how this change was tested

Tested in different node's unit tests

Future work that may be required in bullet points

For Maintainers:

  • Check that any new parameters added are updated in docs.nav2.org
  • Check that any significant change is added to the migration guide
  • Check that any new features OR changes to existing behaviors are reflected in the tuning guide
  • Check that any new functions have Doxygen added
  • Check that any new features have test coverage
  • Check that any new plugins is added to the plugins page
  • If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
  • Should this be backported to current distributions? If so, tag with backport-*.

@mini-1235
Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"
7990415 
This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@mini-1235
Update spin some to use spin all
12dccee 
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@mergify
Copy link
Contributor

mergify bot commented Aug 22, 2025

@mini-1235, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

@mini-1235
Copy link
Collaborator Author

mini-1235 commented Aug 22, 2025

CI failing:
Error computing cache key: template: cacheKey:1:79: executing "cacheKey" at <checksum "/opt/overlay_ws/lockfile.txt">: error calling checksum: open /opt/overlay_ws/lockfile.txt: no such file or directory

I don't think this is related to this PR

@SteveMacenski SteveMacenski linked an issue Aug 27, 2025 that may be closed by this pull request
Revert Double Spin in #4558 once rclcpp #2589 fixed #4567
Closed
SteveMacenski
SteveMacenski reviewed Aug 27, 2025
View reviewed changes
Copy link
Member

@SteveMacenski SteveMacenski left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Must have been a weird CircleCI fluke. I just retriggered and worked fine.

Spin_some will process any messages in the queue from before the spin was started, whereas the spin_all will spin over any messages received after it started processing. I think that's an OK choice as long as there's a timeout (which you have set) so it doesn't go indefinitely.

We could also set the timeout used to be the same as the loop rate duration

navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Line 195 in 7603938

blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_); // NOLINT
so that we never processed for longer than the optimal BT looping rate, in the worst case. This is also in milliseconds, so I think the only update would be to replace the 50 with the variable.

@codecov
Copy link

codecov bot commented Aug 27, 2025 •
edited
Loading

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines Coverage Δ
...r_tree/plugins/action/controller_selector_node.hpp 100.00% <ø> (ø)
...tree/plugins/action/goal_checker_selector_node.hpp 100.00% <ø> (ø)
...vior_tree/plugins/action/planner_selector_node.hpp 100.00% <ø> (ø)
.../plugins/action/progress_checker_selector_node.hpp 100.00% <ø> (ø)
...ior_tree/plugins/action/smoother_selector_node.hpp 100.00% <ø> (ø)
...lugins/condition/is_battery_charging_condition.hpp 100.00% <ø> (ø)
...ree/plugins/condition/is_battery_low_condition.hpp 100.00% <ø> (ø)
...avior_tree/plugins/decorator/goal_updater_node.hpp 100.00% <ø> (ø)
...r_tree/plugins/action/controller_selector_node.cpp 100.00% <100.00%> (ø)
...tree/plugins/action/goal_checker_selector_node.cpp 100.00% <100.00%> (ø)
... and 6 more

... and 2 files with indirect coverage changes

🚀 New features to boost your workflow:
  • ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

@mini-1235
Replace 50 ms with bt loop duration
9a4603c 
Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
@mini-1235
Copy link
Collaborator Author

mini-1235 commented Aug 27, 2025

We could also set the timeout used to be the same as the loop rate duration

navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Line 195 in 7603938

blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_); // NOLINT

so that we never processed for longer than the optimal BT looping rate, in the worst case. This is also in milliseconds, so I think the only update would be to replace the 50 with the variable.

Ok!

@SteveMacenski SteveMacenski merged commit 2b8cc4d into ros-navigation:main Aug 27, 2025
16 checks passed
@mini-1235 mini-1235 deleted the revert-double-spin branch August 27, 2025 21:09
bkoensgen pushed a commit to bkoensgen/navigation2 that referenced this pull request Aug 29, 2025
@mini-1235 @bkoensgen
Revert double spin (ros-navigation#5477)
b936368 
* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Update spin some to use spin all

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace 50 ms with bt loop duration

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
armgits pushed a commit to armgits/navigation2 that referenced this pull request Sep 5, 2025
@mini-1235 @armgits
Revert double spin (ros-navigation#5477)
22a3721 
* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Update spin some to use spin all

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace 50 ms with bt loop duration

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
armgits pushed a commit to armgits/navigation2 that referenced this pull request Sep 5, 2025
@mini-1235 @armgits
Revert double spin (ros-navigation#5477)
2fb0e2d 
* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Update spin some to use spin all

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace 50 ms with bt loop duration

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Signed-off-by: Abhishekh Reddy <helloarm@pm.me>
silanus23 pushed a commit to silanus23/navigation2 that referenced this pull request Sep 18, 2025
@mini-1235 @silanus23
Revert double spin (ros-navigation#5477)
f8338bd 
* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Update spin some to use spin all

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace 50 ms with bt loop duration

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
BCKSELFDRIVEWORLD pushed a commit to BCKSELFDRIVEWORLD/navigation2 that referenced this pull request Sep 23, 2025
@mini-1235 @BCKSELFDRIVEWORLD
Revert double spin (ros-navigation#5477)
2d93fdf 
* Revert "Add double spin_some in some BT nodes (ros-navigation#5055)"

This reverts commit 4e8469e.

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Update spin some to use spin all

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

* Replace 50 ms with bt loop duration

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

---------

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@SteveMacenski SteveMacenski SteveMacenski approved these changes

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

Revert Double Spin in #4558 once rclcpp #2589 fixed

2 participants

@mini-1235 @SteveMacenski