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use unique IDs for BTs #100

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Merged
SteveMacenski merged 1 commit into from
Feb 12, 2026
Merged

use unique IDs for BTs #100

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4 changes: 2 additions & 2 deletions opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
This BT shows set polygon usage with the coverage server
-->

<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicCompleteCoverage">
<BehaviorTree ID="NavigateWBasicCompleteCoverage">
<RateController hz="0.0000001"> <!-- once, for demo -->
<Sequence name="NavigateWithoutReplanning">
<!-- May use:
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4 changes: 2 additions & 2 deletions opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
This BT shows set polygon usage with the coverage server
-->

<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicCompleteCoverageNavToStart">
<BehaviorTree ID="NavigateWBasicCompleteCoverageNavToStart">
<RateController hz="0.0000001"> <!-- once, for demo -->
<Sequence name="NavigateWithoutReplanning">
<!-- May use:
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4 changes: 2 additions & 2 deletions opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,8 +11,8 @@
This BT shows field file usage with the row coverage server
-->

<root BTCPP_format="4" main_tree_to_execute="MainTree">
<BehaviorTree ID="MainTree">
<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicRowCompleteCoverage">
<BehaviorTree ID="NavigateWBasicRowCompleteCoverage">
<RateController hz="0.0000001"> <!-- once, for demo -->
<Sequence name="NavigateWithoutReplanning">
<!-- May use:
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4 changes: 2 additions & 2 deletions opennav_coverage_navigator/src/coverage_navigator.cpp
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Expand Up @@ -173,9 +173,9 @@ CoverageNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
{
RCLCPP_INFO(logger_, "Received goal preemption request");

if (goal->behavior_tree == bt_action_server_->getCurrentBTFilename() ||
if (goal->behavior_tree == bt_action_server_->getDefaultBTFilenameOrID() ||
(goal->behavior_tree.empty() &&
bt_action_server_->getCurrentBTFilename() == bt_action_server_->getDefaultBTFilename()))
bt_action_server_->getDefaultBTFilenameOrID() == bt_action_server_->getDefaultBTFilenameOrID()))
{
// if pending goal requests the same BT as the current goal, accept the pending goal
// if pending goal has an empty behavior_tree field, it requests the default BT file
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