Behaviors access result #3704
Behaviors access result #3704
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| @@ -90,7 +90,7 @@ class TimedBehavior : public nav2_core::Behavior | |||
| // Implement the behavior such that it runs some unit of work on each call | |||
| // and provides a status. The Behavior will finish once SUCCEEDED is returned | |||
| // It's up to the derived class to define the final commanded velocity. | |||
| virtual ResultStatus onCycleUpdate() = 0; | |||
| virtual ResultStatus onCycleUpdate(std::shared_ptr<typename ActionT::Result> result) = 0; | |||
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Wouldn't this make alot more sense in onActionCompletion?
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I didn't really have a preference. I figured it would be easy to leave it in onCycleUpdate. I can move it over though :).
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Please do. I dont think cycle updates should need to populate the result. The ‘action complete’ callback seems like the right place
| @@ -77,7 +77,7 @@ void AssistedTeleop::onActionCompletion() | |||
| preempt_teleop_ = false; | |||
| } | |||
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| ResultStatus AssistedTeleop::onCycleUpdate() | |||
| ResultStatus AssistedTeleop::onCycleUpdate(std::shared_ptr<AssistedTeleopActionResult>) | |||
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Nit: but add the commented out name /*result*/ like we do elsewhere in the codebase for all eq.
Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #3704 +/- ##
==========================================
- Coverage 90.41% 90.40% -0.01%
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Files 411 411
Lines 17801 17804 +3
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+ Hits 16095 16096 +1
- Misses 1706 1708 +2
☔ View full report in Codecov by Sentry. |
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can I backport this into iron? |
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No, this is an ABI breaking change |
Basic Info
Description of contribution in a few bullet points
Allow recoveries to have access to the result. This allows behaviors to set the result message.
Description of documentation updates required from your changes
Future work that may be required in bullet points
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