Added a flag to not send goal in BtActionNode

[owen7900]

Signed-off-by: Owen Hooper [email protected]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3150
Primary OS tested on	Ubuntu
Robotic platform tested on	Gazebo

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Description of contribution in a few bullet points

• I added a parameter to allow an implementing developer to prevent the BtActionNode from sending a goal
• Parameter gets reset before on_tick is called
• Parameter is checked before both calls to send_new_goal

Description of documentation updates required from your changes

• Needs to get added to the migration guide
• Needs to be added to the table in writing_new_bt_plugin

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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]

@owen7900, 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

[SteveMacenski]

Thanks!

[SteveMacenski]

Any update?

[owen7900]

@SteveMacenski Got busy. Made the changes.

[SteveMacenski]

Thanks!

[tonynajjar]

When I set should_send_goal_ to false in my on_tick(), the navigator crashes, here is the log with backward_ros:

[amr_navigate_to_pose-6]          77:   template<typename _Res, typename _MemPtr, typename _Tp>
[amr_navigate_to_pose-6] #6    Source "/code/ros2_ws/install/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp", line 237, in executeCallback [0x7f841716e71f]
[amr_navigate_to_pose-6]         234:     };
[amr_navigate_to_pose-6]         235: 
[amr_navigate_to_pose-6]         236:   // Execute the BT that was previously created in the configure step
[amr_navigate_to_pose-6]       > 237:   nav2_behavior_tree::BtStatus rc = bt_->run(tree_, on_loop, is_canceling, bt_loop_duration_);
[amr_navigate_to_pose-6]         238: 
[amr_navigate_to_pose-6]         239:   // Make sure that the Bt is not in a running state from a previous execution
[amr_navigate_to_pose-6]         240:   // note: if all the ControlNodes are implemented correctly, this is not needed.
[amr_navigate_to_pose-6] #5    Object "/code/ros2_ws/build/nav2_behavior_tree/libnav2_behavior_tree.so", at 0x7f841652f552, in nav2_behavior_tree::BehaviorTreeEngine::run(BT::Tree*, std::function<void ()>, std::function<bool ()>, std::chrono::duration<long, std::ratio<1l, 1000l> >)
[amr_navigate_to_pose-6] #4    Object "/opt/ros/humble/lib/libbehaviortree_cpp_v3.so", at 0x7f8417561745, in BT::TreeNode::executeTick()
[amr_navigate_to_pose-6] #3    Object "/opt/ros/humble/lib/libbehaviortree_cpp_v3.so", at 0x7f8417575b3b, in BT::SequenceNode::tick()
[amr_navigate_to_pose-6] #2    Object "/opt/ros/humble/lib/libbehaviortree_cpp_v3.so", at 0x7f8417561745, in BT::TreeNode::executeTick()
[amr_navigate_to_pose-6] #1    Object "/code/ros2_ws/build/amr_behavior_tree/libset_lift_level_action_bt_node.so", at 0x7f8410188861, in nav2_behavior_tree::BtActionNode<control_msgs::action::SingleJointPosition>::tick()
[amr_navigate_to_pose-6] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f841697ff74, in pthread_mutex_lock
[amr_navigate_to_pose-6] Segmentation fault (Address not mapped to object [0xb0])
[ERROR] [amr_navigate_to_pose-6]: process has died [pid 2432571, exit code -11, cmd '/code/ros2_ws/install/amr_bt_navigator/lib/amr_bt_navigator/amr_navigate_to_pose --ros-args -r __node:=amr_navigate_to_pose -p use_sim_time:=True --params-file /tmp/unaliased_2knhja99'].

As you can probably see a lot of the code in there in custom so I'm not 100% sure that the issue is on Nav2 side but a test for this would have been really useful to confirm or deny this. Do you see any obvious reason for this crash?