Tree breaks if message definition changes

fzi-forschungszentrum-informatik / ros2_ros_bt_py

This is a Behavior Tree library meant to be an alternative to SMACH, FlexBE and the like. It includes a ReactJS-based web GUI and all the building blocks you need to build moderately advanced mission control Behavior Trees without writing a single line of code!

BSD 3-Clause "New" or "Revised" License

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Tree breaks if message definition changes #29

Open Oberacda opened 10 months ago

Oberacda commented 10 months ago

When a tree has an explicit message definition inside of it (constant, etc.), the tree will break if the message is updated to have more fields. The changed message definition is already caught by bt_py, so why not offer some sort of migration?

Oberacda commented 3 months ago

During the discussion, some questions emerged that require additional testing:

Do existing connections break if new fields are added to a message/service/action, but the connected ones are unchanged?
Do existing connections break if the field is removed from the message?
Can we automatically fix/migrate the tree to alleviate these issues?