update for BT.cpp master (#1714)

ros-navigation · May 9, 2020 · 50b044a · 50b044a
1 parent 2113b6a
commit 50b044a
Show file tree

Hide file tree

Showing 9 changed files with 12 additions and 16 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
@@ -49,13 +49,11 @@ class BehaviorTreeEngine
   {
     // this halt signal should propagate through the entire tree.
     root_node->halt();
-    root_node->setStatus(BT::NodeStatus::IDLE);
 
     // but, just in case...
     auto visitor = [](BT::TreeNode * node) {
         if (node->status() == BT::NodeStatus::RUNNING) {
           node->halt();
-          node->setStatus(BT::NodeStatus::IDLE);
         }
       };
     BT::applyRecursiveVisitor(root_node, visitor);

diff --git a/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp b/nav2_behavior_tree/plugins/control/pipeline_sequence.cpp
@@ -82,7 +82,7 @@ BT::NodeStatus PipelineSequence::tick()
     auto status = children_nodes_[i]->executeTick();
     switch (status) {
       case BT::NodeStatus::FAILURE:
-        haltChildren(0);
+        ControlNode::haltChildren();
         last_child_ticked_ = 0;  // reset
         return status;
         break;
@@ -106,7 +106,7 @@ BT::NodeStatus PipelineSequence::tick()
     }
   }
   // Wrap up.
-  haltChildren(0);
+  ControlNode::haltChildren();
   last_child_ticked_ = 0;  // reset
   return BT::NodeStatus::SUCCESS;
 }

diff --git a/nav2_behavior_tree/plugins/control/recovery_node.cpp b/nav2_behavior_tree/plugins/control/recovery_node.cpp
@@ -88,7 +88,7 @@ class RecoveryNode : public BT::ControlNode
                 current_child_idx_++;
                 break;
               } else {
-                haltChildren(0);
+                ControlNode::haltChildren();
                 return BT::NodeStatus::FAILURE;
               }
             }
@@ -111,7 +111,7 @@ class RecoveryNode : public BT::ControlNode
             {
               retry_count_++;
               current_child_idx_--;
-              haltChildren(1);
+              ControlNode::haltChildren();
             }
             break;
 

diff --git a/nav2_behavior_tree/plugins/control/round_robin_node.cpp b/nav2_behavior_tree/plugins/control/round_robin_node.cpp
@@ -46,11 +46,11 @@ class RoundRobinNode : public BT::ControlNode
           current_child_idx_ = 0;
         }
 
-        haltChildren(0);
+        ControlNode::haltChildren();
         return BT::NodeStatus::SUCCESS;
 
       case BT::NodeStatus::FAILURE:
-        haltChildren(0);
+        ControlNode::haltChildren();
         return BT::NodeStatus::FAILURE;
 
       case BT::NodeStatus::RUNNING:

diff --git a/nav2_behavior_tree/plugins/decorator/rate_controller.cpp b/nav2_behavior_tree/plugins/decorator/rate_controller.cpp
@@ -86,13 +86,11 @@ inline BT::NodeStatus RateController::tick()
         return BT::NodeStatus::RUNNING;
 
       case BT::NodeStatus::SUCCESS:
-        child_node_->setStatus(BT::NodeStatus::IDLE);
         start_ = std::chrono::high_resolution_clock::now();  // Reset the timer
         return BT::NodeStatus::SUCCESS;
 
       case BT::NodeStatus::FAILURE:
       default:
-        child_node_->setStatus(BT::NodeStatus::IDLE);
         return BT::NodeStatus::FAILURE;
     }
   }

diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -47,11 +47,11 @@ BehaviorTreeEngine::run(
   // Loop until something happens with ROS or the node completes
   while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
     if (cancelRequested()) {
-      tree->root_node->halt();
+      tree->rootNode()->halt();
       return BtStatus::CANCELED;
     }
 
-    result = tree->root_node->executeTick();
+    result = tree->tickRoot();
 
     onLoop();
 

diff --git a/nav2_bt_navigator/src/bt_navigator.cpp b/nav2_bt_navigator/src/bt_navigator.cpp
@@ -174,7 +174,7 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
   plugin_lib_names_.clear();
   xml_string_.clear();
   blackboard_.reset();
-  bt_->haltAllActions(tree_.root_node);
+  bt_->haltAllActions(tree_.rootNode());
   bt_.reset();
 
   RCLCPP_INFO(get_logger(), "Completed Cleaning up");
@@ -229,7 +229,7 @@ BtNavigator::navigateToPose()
   nav2_behavior_tree::BtStatus rc = bt_->run(&tree_, on_loop, is_canceling);
   // Make sure that the Bt is not in a running state from a previous execution
   // note: if all the ControlNodes are implemented correctly, this is not needed.
-  bt_->haltAllActions(tree_.root_node);
+  bt_->haltAllActions(tree_.rootNode());
 
   switch (rc) {
     case nav2_behavior_tree::BtStatus::SUCCEEDED:

diff --git a/nav2_bt_navigator/src/ros_topic_logger.cpp b/nav2_bt_navigator/src/ros_topic_logger.cpp
@@ -22,7 +22,7 @@ namespace nav2_bt_navigator
 
 RosTopicLogger::RosTopicLogger(
   const rclcpp::Node::SharedPtr & ros_node, const BT::Tree & tree)
-: StatusChangeLogger(tree.root_node), ros_node_(ros_node)
+: StatusChangeLogger(tree.rootNode()), ros_node_(ros_node)
 {
   log_pub_ = ros_node_->create_publisher<nav2_msgs::msg::BehaviorTreeLog>(
     "behavior_tree_log",

diff --git a/tools/ros2_dependencies.repos b/tools/ros2_dependencies.repos
@@ -2,7 +2,7 @@ repositories:
   BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: ros2-3.1.1
+    version: master
   angles:
     type: git
     url: https://github.com/ros/angles.git