Skip to content

Custom Messages for Behavior Trees (BTs) #393

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
avalen2022 wants to merge 1 commit into
base: rolling
Choose a base branch
from
Open

Custom Messages for Behavior Trees (BTs) #393

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 11 additions & 3 deletions plansys2_bt_actions/src/plansys2_bt_actions/BTAction.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -194,6 +194,7 @@ void BTAction::do_work()
{
if (!finished_) {
BT::NodeStatus result;
std::string out_msg;
try {
result = tree_.rootNode()->executeTick();
} catch (BT::LogicError e) {
Expand All @@ -206,16 +207,23 @@ void BTAction::do_work()
finish(false, 0.0, "BTAction behavior tree threw an unknown exception");
}

if (!blackboard_->get("out_msg", out_msg)) {
out_msg = "";
}

switch (result) {
case BT::NodeStatus::SUCCESS:
finish(true, 1.0, "BTAction behavior tree returned SUCCESS");
finish(true, 1.0,
out_msg.empty() ? "BTAction behavior tree returned SUCCESS" : out_msg);
finished_ = true;
break;
case BT::NodeStatus::RUNNING:
send_feedback(0.0, "BTAction behavior tree returned RUNNING");
send_feedback(0.0,
out_msg.empty() ? "BTAction behavior tree returned RUNNING" : out_msg);
break;
case BT::NodeStatus::FAILURE:
finish(false, 1.0, "BTAction behavior tree returned FAILURE");
finish(false, 1.0,
out_msg.empty() ? "BTAction behavior tree returned FAILURE" : out_msg);
finished_ = true;
break;
}
Expand Down
Loading