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Fail PersistentSequence if input port is not set #5589

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Merged
SteveMacenski merged 4 commits into from
Oct 8, 2025
Merged

Fail PersistentSequence if input port is not set #5589

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63913a6
Fail if getInput fails
redvinaa Oct 7, 2025
91999de
Add test with no input
redvinaa Oct 7, 2025
63c0576
Update error string
redvinaa Oct 8, 2025
d2a2402
Fix quotation marks
redvinaa Oct 8, 2025
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6 changes: 5 additions & 1 deletion nav2_behavior_tree/plugins/control/persistent_sequence.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,11 @@ BT::NodeStatus PersistentSequenceNode::tick()
const int children_count = children_nodes_.size();

int current_child_idx;
getInput("current_child_idx", current_child_idx);
if (!getInput("current_child_idx", current_child_idx)) {
throw BT::RuntimeError(
"Missing required input [current_child_idx] in PersistentSequenceNode. "
"Set via <Script code=\"current_child_idx := 0\" />");
}

setStatus(BT::NodeStatus::RUNNING);

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17 changes: 17 additions & 0 deletions nav2_behavior_tree/test/plugins/control/test_persistent_sequence.cpp
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Expand Up @@ -62,6 +62,23 @@ std::shared_ptr<BT::BehaviorTreeFactory>
PersistentSequenceTestFixture::factory_ = nullptr;
std::shared_ptr<BT::Tree> PersistentSequenceTestFixture::tree_ = nullptr;

TEST_F(PersistentSequenceTestFixture, test_empty_fails)
{
// create tree
std::string xml_txt =
R"(
<root BTCPP_format="4">
<BehaviorTree ID="MainTree">
<PersistentSequence>
<AlwaysSuccess/>
</PersistentSequence>
</BehaviorTree>
</root>)";
tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));

EXPECT_THROW(tree_->rootNode()->executeTick(), BT::RuntimeError);
}

TEST_F(PersistentSequenceTestFixture, test_tick)
{
// create tree
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