16.7.3

Description

Abstract

Return "follow_polyline_trajectory" behavior in do_nothing behavior plugin when following a polyline trajectory request.

Background

The do_nothing behavior plugin previously always returned "do_nothing" as its current action, even when it was actively following a polyline trajectory. This made it difficult to distinguish between actual do-nothing behavior and trajectory-following behavior.

Details

This PR modifies the DoNothingBehavior plugin to properly report its current action based on the actual behavior being executed:

• Changed behavior from a static local variable to a class member variable
• When Request::FOLLOW_POLYLINE_TRAJECTORY is active, the plugin now returns "follow_polyline_trajectory"
• When the trajectory is completed or no trajectory request exists, it returns "do_nothing"
• Updated the documentation comment in the header file to reflect that the method no longer always returns "do_nothing"

This change improves observability by allowing external systems to correctly identify when the entity is following a trajectory versus truly doing nothing.

References

N/A

Destructive Changes

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Known Limitations

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🤖 Generated with Claude Code

Co-Authored-By: Claude noreply@anthropic.com

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