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Fix: bt_navigator crashes on lc transitions #2848

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Merged
SteveMacenski merged 5 commits into from
Mar 21, 2022
Merged

Fix: bt_navigator crashes on lc transitions #2848

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034a67c
fix empty address access on halt all actions
Mar 16, 2022
f4b4645
fix unsafe declaration of parameters
Mar 16, 2022
525dde5
restore odom smoother
Mar 16, 2022
4186dbc
fix styling issues
Mar 19, 2022
e794c20
add missing semicolumn
Mar 19, 2022
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4 changes: 4 additions & 0 deletions nav2_behavior_tree/src/behavior_tree_engine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,10 @@ BehaviorTreeEngine::createTreeFromFile(
void
BehaviorTreeEngine::haltAllActions(BT::TreeNode * root_node)
{
if (!root_node) {
return;
}

// this halt signal should propagate through the entire tree.
root_node->halt();

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24 changes: 17 additions & 7 deletions nav2_bt_navigator/src/navigators/navigate_through_poses.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,17 @@ NavigateThroughPosesNavigator::configure(
{
start_time_ = rclcpp::Time(0);
auto node = parent_node.lock();
node->declare_parameter("goals_blackboard_id", std::string("goals"));

if (!node->has_parameter("goals_blackboard_id")) {
node->declare_parameter("goals_blackboard_id", std::string("goals"));
}

goals_blackboard_id_ = node->get_parameter("goals_blackboard_id").as_string();

if (!node->has_parameter("path_blackboard_id")) {
node->declare_parameter("path_blackboard_id", std::string("path"));
}

path_blackboard_id_ = node->get_parameter("path_blackboard_id").as_string();

// Odometry smoother object for getting current speed
Expand All @@ -48,12 +54,16 @@ NavigateThroughPosesNavigator::getDefaultBTFilepath(
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");

if (!node->has_parameter("default_nav_through_poses_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_through_poses_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml");
}

node->get_parameter("default_nav_through_poses_bt_xml", default_bt_xml_filename);

return default_bt_xml_filename;
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24 changes: 17 additions & 7 deletions nav2_bt_navigator/src/navigators/navigate_to_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,11 +29,17 @@ NavigateToPoseNavigator::configure(
{
start_time_ = rclcpp::Time(0);
auto node = parent_node.lock();
node->declare_parameter("goal_blackboard_id", std::string("goal"));

if (!node->has_parameter("goal_blackboard_id")) {
node->declare_parameter("goal_blackboard_id", std::string("goal"));
}

goal_blackboard_id_ = node->get_parameter("goal_blackboard_id").as_string();

if (!node->has_parameter("path_blackboard_id")) {
node->declare_parameter("path_blackboard_id", std::string("path"));
}

path_blackboard_id_ = node->get_parameter("path_blackboard_id").as_string();

// Odometry smoother object for getting current speed
Expand All @@ -54,12 +60,16 @@ NavigateToPoseNavigator::getDefaultBTFilepath(
{
std::string default_bt_xml_filename;
auto node = parent_node.lock();
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");

if (!node->has_parameter("default_nav_to_pose_bt_xml")) {
std::string pkg_share_dir =
ament_index_cpp::get_package_share_directory("nav2_bt_navigator");
node->declare_parameter<std::string>(
"default_nav_to_pose_bt_xml",
pkg_share_dir +
"/behavior_trees/navigate_to_pose_w_replanning_and_recovery.xml");
}

node->get_parameter("default_nav_to_pose_bt_xml", default_bt_xml_filename);

return default_bt_xml_filename;
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