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A patch to fix BT navigator nullptr error or no /behavior_tree_log problem #1849

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Merged
SteveMacenski merged 1 commit into from
Jul 9, 2020
Merged

A patch to fix BT navigator nullptr error or no /behavior_tree_log problem #1849

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26 changes: 13 additions & 13 deletions nav2_bt_navigator/src/bt_navigator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -247,6 +247,19 @@ BtNavigator::navigateToPose()
return action_server_->is_cancel_requested();
};

auto bt_xml_filename = action_server_->get_current_goal()->behavior_tree;

// Empty id in request is default for backward compatibility
bt_xml_filename = bt_xml_filename == "" ? default_bt_xml_filename_ : bt_xml_filename;

if (!loadBehaviorTree(bt_xml_filename)) {
RCLCPP_ERROR(
get_logger(), "BT file not found: %s. Navigation canceled",
bt_xml_filename.c_str(), current_bt_xml_filename_.c_str());
action_server_->terminate_current();
return;
}

RosTopicLogger topic_logger(client_node_, tree_);
std::shared_ptr<Action::Feedback> feedback_msg = std::make_shared<Action::Feedback>();

Expand Down Expand Up @@ -276,19 +289,6 @@ BtNavigator::navigateToPose()
action_server_->publish_feedback(feedback_msg);
};

auto bt_xml_filename = action_server_->get_current_goal()->behavior_tree;

// Empty id in request is default for backward compatibility
bt_xml_filename = bt_xml_filename == "" ? default_bt_xml_filename_ : bt_xml_filename;

if (!loadBehaviorTree(bt_xml_filename)) {
RCLCPP_ERROR(
get_logger(), "BT file not found: %s. Navigation canceled",
bt_xml_filename.c_str(), current_bt_xml_filename_.c_str());
action_server_->terminate_current();
return;
}

// Execute the BT that was previously created in the configure step
nav2_behavior_tree::BtStatus rc = bt_->run(&tree_, on_loop, is_canceling);
// Make sure that the Bt is not in a running state from a previous execution
Expand Down