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Add double spin_some in some BT nodes #5055

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Merged
SteveMacenski merged 3 commits into from
Apr 7, 2025
Merged

Add double spin_some in some BT nodes #5055

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aee811d
Add a double spin
ajtudela Apr 3, 2025
8574d36
Add comment
ajtudela Apr 4, 2025
39fb669
Move spin to constructor
ajtudela Apr 7, 2025
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/action/controller_selector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@ ControllerSelector::ControllerSelector(
: BT::SyncActionNode(name, conf)
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
}

void ControllerSelector::initialize()
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/action/planner_selector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,9 @@ PlannerSelector::PlannerSelector(
: BT::SyncActionNode(name, conf)
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
}

void PlannerSelector::initialize()
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/action/smoother_selector_node.cpp
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Expand Up @@ -34,6 +34,9 @@ SmootherSelector::SmootherSelector(
: BT::SyncActionNode(name, conf)
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
}

void SmootherSelector::initialize()
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/condition/is_battery_charging_condition.cpp
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Expand Up @@ -27,6 +27,9 @@ IsBatteryChargingCondition::IsBatteryChargingCondition(
is_battery_charging_(false)
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
}

void IsBatteryChargingCondition::initialize()
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3 changes: 3 additions & 0 deletions nav2_behavior_tree/plugins/condition/is_battery_low_condition.cpp
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Expand Up @@ -30,6 +30,9 @@ IsBatteryLowCondition::IsBatteryLowCondition(
is_battery_low_(false)
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_some(std::chrono::nanoseconds(1));
}

void IsBatteryLowCondition::initialize()
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5 changes: 3 additions & 2 deletions nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@ GoalUpdater::GoalUpdater(
goals_updater_topic_("goals_update")
{
initialize();

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_all(std::chrono::milliseconds(1));
}

void GoalUpdater::initialize()
Expand Down Expand Up @@ -92,8 +95,6 @@ inline BT::NodeStatus GoalUpdater::tick()
getInput("input_goal", goal);
getInput("input_goals", goals);

// Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
callback_group_executor_.spin_all(std::chrono::milliseconds(1));
callback_group_executor_.spin_all(std::chrono::milliseconds(49));

if (last_goal_received_set_) {
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