set a empty path on halt

[jwallace42]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3156
Primary OS tested on	None
Robotic platform tested on	None

---

Description of contribution in a few bullet points

Fixes navigation on old path.

Description of documentation updates required from your changes

---

Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[mergify]

@jwallace42, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.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

[jwallace42]

@automech-rb Try giving this a whirl. I think this should solve your issue :).

[mergify]

@jwallace42, 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).

[SteveMacenski]

- nav2_behavior_tree.GloballyUpdatedGoalConditionTestFixture test_behavior
  <<< failure message
    /opt/overlay_ws/src/navigation2/nav2_behavior_tree/test/plugins/condition/test_globally_updated_goal.cpp:52
    Expected equality of these values:
      bt_node_->executeTick()
        Which is: SUCCESS
      BT::NodeStatus::FAILURE
        Which is: FAILURE
  >>>
test_results/nav2_behavior_tree/uncrustify.xunit.xml: 154 tests, 0 errors, 2 failures, 0 skipped
- nav2_behavior_tree.uncrustify include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
  <<< failure message
    Diff with 5 lines
  >>>
- nav2_behavior_tree.uncrustify plugins/action/compute_path_to_pose_action.cpp
  <<< failure message
    Diff with 6 lines
  >>>

Linting + tests need updating

[codecov]

Codecov Report

Merging #3178 (0e19268) into main (42d0bbd) will increase coverage by 0.27%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##             main    #3178      +/-   ##
==========================================
+ Coverage   82.68%   82.96%   +0.27%     
==========================================
  Files         339      339              
  Lines       15239    15242       +3     
==========================================
+ Hits        12601    12645      +44     
+ Misses       2638     2597      -41     

Impacted Files	Coverage Δ
...ree/plugins/action/compute_path_to_pose_action.hpp	100.00% <ø> (ø)
...ree/plugins/action/compute_path_to_pose_action.cpp	86.95% <100.00%> (+1.95%)	⬆️
...gins/condition/globally_updated_goal_condition.cpp	100.00% <100.00%> (ø)
...v2_util/include/nav2_util/simple_action_server.hpp	83.97% <0.00%> (+26.28%)	⬆️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.