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BehaviorTree / BehaviorTree.ROS2

BehaviorTree.CPP utilities to work with ROS2
Apache License 2.0
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A blocking version of RosServiceNode #33

Closed AndyZe closed 1 month ago

AndyZe commented 12 months ago

From what I see here, the service client is non-blocking:

https://github.com/BehaviorTree/BehaviorTree.ROS2/blob/b8ee38197013fd9160716000fa1e2dbb2895fb17/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp#L59

I think it would be nice to have a blocking version as well, since people often send a service request then wait for the response. Or does this not fit well with the BT philosophy?

AndyZe commented 1 month ago

Circling back, I realize now you could just do something like this:

<Sequence>
  <MyServiceCall/>
</Sequence>