From cabb364b66d65149371c5df1258df7953c38f58c Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 20 Nov 2025 11:45:28 -0800
Subject: [PATCH] Conditionally call onLoop based on node status

Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
---
 nav2_behavior_tree/src/behavior_tree_engine.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/nav2_behavior_tree/src/behavior_tree_engine.cpp b/nav2_behavior_tree/src/behavior_tree_engine.cpp
index de3eb350863..54857bce807 100644
--- a/nav2_behavior_tree/src/behavior_tree_engine.cpp
+++ b/nav2_behavior_tree/src/behavior_tree_engine.cpp
@@ -67,7 +67,9 @@ BehaviorTreeEngine::run(
 
       result = tree->tickOnce();
 
-      onLoop();
+      if (result == BT::NodeStatus::RUNNING || result == BT::NodeStatus::IDLE) {
+        onLoop();
+      }
 
       if (!loopRate.sleep()) {
         RCLCPP_DEBUG_THROTTLE(