fix TopicSubscriber

facontidavide · facontidavide · commit bdb778ac9858 · 2024-04-19T13:18:00.000+02:00
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -296,14 +296,14 @@ template<class T> inline
   std::string topic_name;
   getInput("topic_name", topic_name);
 
-  if(!sub_instance_)
+  if(!topic_name.empty() && topic_name != "__default__placeholder__" && topic_name != topic_name_)
   {
-    createSubscriber(topic_name); 
+    sub_instance_.reset();
   }
-  else if(topic_name_ != topic_name)
+
+  if(!sub_instance_)
   {
-    sub_instance_.reset();
-    createSubscriber(topic_name);
+    createSubscriber(topic_name); 
   }
 
   auto CheckStatus = [](NodeStatus status)

Original file line number	Diff line number	Diff line change
`@@ -296,14 +296,14 @@ template<class T> inline`
`296`	`296`	`std::string topic_name;`
`297`	`297`	`getInput("topic_name", topic_name);`
`298`	`298`
`299`		`- if(!sub_instance_)`
	`299`	`+ if(!topic_name.empty() && topic_name != "__default__placeholder__" && topic_name != topic_name_)`
`300`	`300`	`{`
`301`		`- createSubscriber(topic_name);`
	`301`	`+ sub_instance_.reset();`
`302`	`302`	`}`
`303`		`- else if(topic_name_ != topic_name)`
	`303`	`+`
	`304`	`+ if(!sub_instance_)`
`304`	`305`	`{`
`305`		`- sub_instance_.reset();`
`306`		`- createSubscriber(topic_name);`
	`306`	`+ createSubscriber(topic_name);`
`307`	`307`	`}`
`308`	`308`
`309`	`309`	`auto CheckStatus = [](NodeStatus status)`