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Backport duration int to double (#3871) #30

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Merged
redvinaa merged 1 commit into from
Oct 30, 2024
Merged

Backport duration int to double (#3871) #30

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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,7 @@ class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
{
return providedBasicPorts(
{
BT::InputPort<int>("wait_duration", 1, "Wait time")
BT::InputPort<double>("wait_duration", 1.0, "Wait time")
});
}
};
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7 changes: 4 additions & 3 deletions nav2_behavior_tree/plugins/action/wait_action.cpp
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Expand Up @@ -14,6 +14,7 @@

#include <string>
#include <memory>
#include <cmath>

#include "nav2_behavior_tree/plugins/action/wait_action.hpp"

Expand All @@ -26,16 +27,16 @@ WaitAction::WaitAction(
const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::Wait>(xml_tag_name, action_name, conf)
{
int duration;
double duration;
getInput("wait_duration", duration);
if (duration <= 0) {
RCLCPP_WARN(
node_->get_logger(), "Wait duration is negative or zero "
"(%i). Setting to positive.", duration);
"(%f). Setting to positive.", duration);
duration *= -1;
}

goal_.time.sec = duration;
goal_.time = rclcpp::Duration::from_seconds(duration);
}

void WaitAction::on_tick()
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8 changes: 4 additions & 4 deletions nav2_behavior_tree/test/plugins/action/test_wait_action.cpp
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Expand Up @@ -120,18 +120,18 @@ TEST_F(WaitActionTestFixture, test_ports)
</root>)";

tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
EXPECT_EQ(tree_->rootNode()->getInput<int>("wait_duration"), 1);
EXPECT_EQ(tree_->rootNode()->getInput<double>("wait_duration"), 1.0);

xml_txt =
R"(
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Wait wait_duration="10" />
<Wait wait_duration="10.0" />
</BehaviorTree>
</root>)";

tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
EXPECT_EQ(tree_->rootNode()->getInput<int>("wait_duration"), 10);
EXPECT_EQ(tree_->rootNode()->getInput<double>("wait_duration"), 10.0);
}

TEST_F(WaitActionTestFixture, test_tick)
Expand All @@ -140,7 +140,7 @@ TEST_F(WaitActionTestFixture, test_tick)
R"(
<root main_tree_to_execute = "MainTree" >
<BehaviorTree ID="MainTree">
<Wait wait_duration="-5"/>
<Wait wait_duration="-5.0"/>
</BehaviorTree>
</root>)";

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2 changes: 1 addition & 1 deletion ...tor/behavior_trees/nav_to_pose_with_consistent_replanning_and_if_path_becomes_invalid.xml
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Expand Up @@ -37,7 +37,7 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57"/>
<Wait wait_duration="5"/>
<Wait wait_duration="5.0"/>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
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2 changes: 1 addition & 1 deletion nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
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Expand Up @@ -29,7 +29,7 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
<Wait wait_duration="5"/>
<Wait wait_duration="5.0"/>
<BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_error_code}"/>
</RoundRobin>
</ReactiveFallback>
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2 changes: 1 addition & 1 deletion nav2_bt_navigator/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml
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Expand Up @@ -38,7 +38,7 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57" error_code_id="{spin_error_code}"/>
<Wait wait_duration="5"/>
<Wait wait_duration="5.0"/>
<BackUp backup_dist="0.30" backup_speed="0.05" error_code_id="{backup_code_id}"/>
</RoundRobin>
</ReactiveFallback>
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4 changes: 2 additions & 2 deletions ..._bt_navigator/behavior_trees/navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
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Expand Up @@ -20,7 +20,7 @@
<RetryUntilSuccessful num_attempts="1">
<SequenceStar name="CancelingControlAndWait">
<CancelControl name="ControlCancel"/>
<Wait wait_duration="5"/>
<Wait wait_duration="5.0"/>
</SequenceStar>
</RetryUntilSuccessful>
</PathLongerOnApproach>
Expand All @@ -38,7 +38,7 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin spin_dist="1.57"/>
<Wait wait_duration="5"/>
<Wait wait_duration="5.0"/>
<BackUp backup_dist="0.30" backup_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
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2 changes: 1 addition & 1 deletion ...igator/behavior_trees/navigate_w_recovery_and_replanning_only_if_path_becomes_invalid.xml
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Expand Up @@ -35,7 +35,7 @@
<ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
</Sequence>
<Spin name="SpinRecovery" spin_dist="1.57"/>
<Wait name="WaitRecovery" wait_duration="5"/>
<Wait name="WaitRecovery" wait_duration="5.0"/>
<BackUp name="BackUpRecovery" backup_dist="0.30" backup_speed="0.05"/>
</RoundRobin>
</ReactiveFallback>
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