More improvments in BTActionNode#375
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fmrico merged 8 commits intoPlanSys2:rollingfrom Jul 23, 2025
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Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
ajtudela
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It's ready for review! |
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LGTM!! Let me manually test against the examples to make sure everything is smooth, and then I will merge. |
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
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I just added a few fixes related to Groot2, formating and styling. |
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Hi @ajtudela I have found a problem manually testing with the https://github.com/PlanSys2/ros2_planning_system_examples . The plansys2_bt_example seems to fail with your change consistently: rolling branchrolling.mp4back_to_idle_branchback_to_idle.mp4Can you reproduce this test manually to find out what is happening? |
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Mmm, I think I fixed in this PR but I'll review both PRs and I let you know when it's ready to merge. |
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
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@fmrico all fixed! |
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Merging! 🚀 Thanks @ajtudela !!!! |
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I discovered that my BT nodes were only executing once they had finished.
This change reverts the internal state machine of the BT to the IDLE state once it has finished, enabling the BT node to be executed every time inside a loop controller.
I also added a callback group executor to call the action in a different thread, to avoid blocking the BT.