From 98faef53b6f1b4e53ba7da7a3b1cb561fa0fc82c Mon Sep 17 00:00:00 2001
From: Ashwin Bose <ashwinbose123@gmail.com>
Date: Fri, 27 Mar 2020 21:58:36 +0100
Subject: [PATCH] Decide the output of BtServiceNode based on the
service-response (#1615)
- `BtServiceNode::check_future()` was created, to encapsulate the logic
where a the output of the BtServiceNode is computed.
- Inherited classes can overload this function according to the requirement
of the user
---
.../nav2_behavior_tree/bt_service_node.hpp | 18 ++++++++++++------
1 file changed, 12 insertions(+), 6 deletions(-)
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
index 8fc3ed55..f0cf0f21 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -85,7 +85,19 @@ public:
{
on_tick();
auto future_result = service_client_->async_send_request(request_);
+ return check_future(future_result);
+ }
+
+ // Fill in service request with information if necessary
+ virtual void on_tick()
+ {
+ request_ = std::make_shared<typename ServiceT::Request>();
+ }
+ // Check the future and decide the status of Behaviortree
+ virtual BT::NodeStatus check_future(
+ std::shared_future<typename ServiceT::Response::SharedPtr> future_result)
+ {
rclcpp::executor::FutureReturnCode rc;
rc = rclcpp::spin_until_future_complete(
node_,
@@ -101,12 +113,6 @@ public:
return BT::NodeStatus::FAILURE;
}
- // Fill in service request with information if necessary
- virtual void on_tick()
- {
- request_ = std::make_shared<typename ServiceT::Request>();
- }
-
// An opportunity to do something after
// a timeout waiting for a result that hasn't been received yet
virtual void on_wait_for_result()
--
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