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cherry-picking mjeronimo:fix_bt_crash_after_reset #1515

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merged 1 commit into from
Feb 11, 2020
Merged

cherry-picking mjeronimo:fix_bt_crash_after_reset #1515

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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ class BehaviorTreeEngine
virtual ~BehaviorTreeEngine() {}

BtStatus run(
std::unique_ptr<BT::Tree> & tree,
BT::Tree * tree,
std::function<void()> onLoop,
std::function<bool()> cancelRequested,
std::chrono::milliseconds loopTimeout = std::chrono::milliseconds(10));
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2 changes: 1 addition & 1 deletion nav2_behavior_tree/src/behavior_tree_engine.cpp
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Expand Up @@ -36,7 +36,7 @@ BehaviorTreeEngine::BehaviorTreeEngine(const std::vector<std::string> & plugin_l

BtStatus
BehaviorTreeEngine::run(
std::unique_ptr<BT::Tree> & tree,
BT::Tree * tree,
std::function<void()> onLoop,
std::function<bool()> cancelRequested,
std::chrono::milliseconds loopTimeout)
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3 changes: 0 additions & 3 deletions nav2_bt_navigator/include/nav2_bt_navigator/bt_navigator.hpp
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Expand Up @@ -119,9 +119,6 @@ class BtNavigator : public nav2_util::LifecycleNode
// The wrapper class for the BT functionality
std::unique_ptr<nav2_behavior_tree::BehaviorTreeEngine> bt_;

// The complete behavior tree that results from parsing the incoming XML
std::unique_ptr<BT::Tree> tree_;

// Libraries to pull plugins (BT Nodes) from
std::vector<std::string> plugin_lib_names_;

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24 changes: 6 additions & 18 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,16 +112,6 @@ BtNavigator::on_configure(const rclcpp_lifecycle::State & /*state*/)
RCLCPP_DEBUG(get_logger(), "Behavior Tree file: '%s'", bt_xml_filename.c_str());
RCLCPP_DEBUG(get_logger(), "Behavior Tree XML: %s", xml_string_.c_str());

// Create the Behavior Tree from the XML input (after registering our own node types)
BT::Tree temp_tree = bt_->buildTreeFromText(xml_string_, blackboard_);

// Unfortunately, the BT library provides the tree as a struct instead of a pointer. So, we will
// createa new BT::Tree ourselves and move the data over
tree_ = std::make_unique<BT::Tree>();
tree_->root_node = temp_tree.root_node;
tree_->nodes = std::move(temp_tree.nodes);
temp_tree.root_node = nullptr;

return nav2_util::CallbackReturn::SUCCESS;
}

Expand Down Expand Up @@ -164,10 +154,6 @@ BtNavigator::on_cleanup(const rclcpp_lifecycle::State & /*state*/)
action_server_.reset();
plugin_lib_names_.clear();
xml_string_.clear();

RCLCPP_INFO(get_logger(), "Cleaning tree");

tree_.reset();
blackboard_.reset();
bt_.reset();

Expand Down Expand Up @@ -208,7 +194,11 @@ BtNavigator::navigateToPose()
return action_server_->is_cancel_requested();
};

RosTopicLogger topic_logger(client_node_, *tree_);

// Create the Behavior Tree from the XML input
BT::Tree tree = bt_->buildTreeFromText(xml_string_, blackboard_);

RosTopicLogger topic_logger(client_node_, tree);

auto on_loop = [&]() {
if (action_server_->is_preempt_requested()) {
Expand All @@ -220,7 +210,7 @@ BtNavigator::navigateToPose()
};

// Execute the BT that was previously created in the configure step
nav2_behavior_tree::BtStatus rc = bt_->run(tree_, on_loop, is_canceling);
nav2_behavior_tree::BtStatus rc = bt_->run(&tree, on_loop, is_canceling);

switch (rc) {
case nav2_behavior_tree::BtStatus::SUCCEEDED:
Expand All @@ -236,8 +226,6 @@ BtNavigator::navigateToPose()
case nav2_behavior_tree::BtStatus::CANCELED:
RCLCPP_INFO(get_logger(), "Navigation canceled");
action_server_->terminate_all();
// Reset the BT so that it can be run again in the future
bt_->resetTree(tree_->root_node);
break;

default:
Expand Down