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Add flag to not send request in BTServiceNode #3431
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SteveMacenski
merged 10 commits into
ros-navigation:main
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logivations:add-flag-to-not-send-request-BTServiceNode
Mar 20, 2023
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48217c2
Add flag to not send request in BTServiceNode
a31b394
rename goal to request
a68c971
Merge remote-tracking branch 'upstream/main'
67cf53e
Merge branch 'main' into add-flag-to-not-send-request-BTServiceNode
3a86c66
Fail if should not send goal
05fd124
Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
f52b108
Update nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
a24277d
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60f47bd
fix linter
b47ddd9
fix CI
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Looking back at this @SteveMacenski, we now have the use case where we want to not send a request and succeed. E.g. the BT node sees that we are already in the target state, so no need to send a request and succeed.
Would it make sense to implement something like:
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I think that should be handled in a different BT node, if you read the BTs for AI and Robotics book, the common design pattern is to have a conditional node if a particular objective is complete to skip doing the actual task (e.g. a branch of the tree with a "if ball not in hand, --> then pick up ball" so that if the conditional node checking if the ball is in the hand will trigger or not trigger picking up the ball action)
If that's the case - which it also sounds like you may have (?) the return code for this doesn't matter because that BT node wouldn't be triggered if under the appropriate control flow node. If there's something else you're wanting to do that I'm missing, I'm not opposed to changes, but this is a well understood BT design pattern (should this fit).