onFeedback for bt_action_node is not receiving feedback

[marj3220]

When creating a custom RosActionNode and overriding the onFeedback method, the method is never called. Here is an example: The .hpp file

#pragma once

#include <behaviortree_ros2/bt_action_node.hpp>
#include <iostream>

#include "behaviortree_cpp/action_node.h"
#include "dictator_behavior_tree/pose_to_string.hpp"
#include "geometry_msgs/msg/pose.hpp"
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"

using Nav2 = nav2_msgs::action::NavigateToPose;

namespace BT
{
class NavigateToPose : public RosActionNode<Nav2>
{
  public:
    NavigateToPose(const std::string &name, const NodeConfig &conf, const RosNodeParams &params)
        : RosActionNode<Nav2>(name, conf, params)
    {
    }

    static PortsList providedPorts()
    {
        return providedBasicPorts({InputPort<Position2D>("goal_pose")});
    }

    bool setGoal(RosActionNode::Goal &goal) override;

    NodeStatus onResultReceived(const WrappedResult &wr) override;

    NodeStatus onFailure(ActionNodeErrorCode error) override;

    NodeStatus onFeedback(const std::shared_ptr<const Feedback> feedback) override;
};
} // namespace BT

the implemented method:

NodeStatus NavigateToPose::onFeedback(const std::shared_ptr<const Feedback> feedback)
{
    std::cout << "FEEDBACK" << std::endl;
    std::stringstream ss;
    ss << "Estimated remaining time: " << feedback->estimated_time_remaining.sec << " ";
    std::cout << ss.str() << std::endl;
    return NodeStatus::RUNNING;
}

With this example, I never get an output to the terminal for the received feedback. I also validated that the action does provide a feedback by listening to the action feedback topic ros2 topic echo /navigate_to_pose/_action/feedback

[facontidavide]

Thanks for reporting, I will have a look

[Rizano1]

i have same issue, I've done echo topic on feedback action and the results come out, but onFeedback doesn't get called

[Perdixky]

我的程序同样无法接收到反馈，事实上，它完全没有进入onFeedback函数

class FibonacciAction final : public BT::RosActionNode<action_tutorials_interfaces::action::Fibonacci>
{
public:
    FibonacciAction(const std::string_view name, 
                    const BT::NodeConfig& config, 
                    const BT::RosNodeParams& params)
         : BT::RosActionNode<action_tutorials_interfaces::action::Fibonacci>(name.data(), config, params) { }

    bool setGoal(RosActionNode::Goal& goal) override
    {
        int x;
        std::cout << "请输入：";
        std::cin >> x;
        goal.order = x;
        return true;
    }

    BT::NodeStatus onResultReceived(const WrappedResult& wr) override
    {
        std::stringstream ss;
        ss << "Result received: ";
        for (auto number : wr.result->sequence) {
        ss << number << " ";
        }
        RCLCPP_INFO(node_->get_logger(), ss.str().c_str());
        return BT::NodeStatus::SUCCESS;
    }

    BT::NodeStatus onFailure(BT::ActionNodeErrorCode error) override
    {
        RCLCPP_ERROR(node_->get_logger(), "Error: %s", BT::toStr(error));
        return BT::NodeStatus::FAILURE;
    }

    BT::NodeStatus onFeedback(const std::shared_ptr<const action_tutorials_interfaces::action::Fibonacci::Feedback> feedback) override
    {
        std::stringstream ss;
        ss << "Next number in sequence received: ";
        for (auto number : feedback->partial_sequence) {
        ss << number << " ";
        }
        RCLCPP_INFO(node_->get_logger(), ss.str().c_str());
        return BT::NodeStatus::FAILURE;
    }
};

  static const char* xml_text = R"(
<root BTCPP_format="4" >
    <BehaviorTree ID="MainTree">
        <Sequence name="root_sequence">
            <Fibonacci action_name="fibonacci"/>
        </Sequence>
    </BehaviorTree>
</root>
 )";

auto main(int argc, char** argv) -> int
{
    rclcpp::init(argc, argv);
    BT::BehaviorTreeFactory factory;
    auto node = std::make_shared<rclcpp::Node>("client");
    BT::RosNodeParams params;
    params.nh = node;
    params.default_port_value = "fibonacci";
    factory.registerNodeType<FibonacciAction>("Fibonacci", params);
    auto tree = factory.createTreeFromText(xml_text);

    tree.tickWhileRunning();
    return 0;
}

[Perdixky]

我使用的ros2版本是humble，当我使用ros2 action send_goal -f指令时，可以得到上述代码给出的feed back

[sa32953]

I have the same issue, onFeedback doesn't get called and Tree doesnt return RUNNING As Status. Did someone find a solution for this?