From 473492f989a4ab63df30baadecf1c7b715430265 Mon Sep 17 00:00:00 2001
From: muttistefano <mutti.stefano.jp@gmail.com>
Date: Fri, 10 Feb 2023 20:28:04 +0100
Subject: [PATCH] Added missing conditions to nav2_tree_nodes (#3401)

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp to nav2_tree_nodes

* Add WouldAControllerRecoveryHelp and WouldAPlannerRecoveryHelp...... to nav2_tree_nodes

* Update nav2_tree_nodes.xml

---------

Co-authored-by: blanker <you@example.com>
---
 nav2_behavior_tree/nav2_tree_nodes.xml | 18 ++++++++++++++++++
 1 file changed, 18 insertions(+)

diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 1a6791a632..cf2bbed4b2 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -247,6 +247,24 @@
       <input_port name="server_timeout"> Server timeout </input_port>
     </Condition>
 
+    <Condition ID="WouldAControllerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldAPlannerRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="WouldASmootherRecoveryHelp">
+      <input_port name="error_code">Error code</input_port>
+    </Condition>
+
+    <Condition ID="AreErrorCodesPresent">
+      <input_port name="error_code">Error code</input_port>
+      <input_port name="error_codes_to_check">Error codes to check, user defined</input_port>
+    </Condition>
+
+
     <!-- ############################### CONTROL NODES ################################ -->
     <Control ID="PipelineSequence"/>