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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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🐛 [BUG] - Wait Node is stateful over a shutdown signal #81

Closed Oberacda closed 1 month ago

Oberacda commented 4 months ago

Description

When using a Wait node in a tree after it succeeds the first time, it will succeed immediately without waiting on any subsequent tree executions even if the tree is shutdown in between.

Reproduction URL

https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py/

Reproduction steps

1. Build a Tree with a Wait Node
2. Execute the tree so that both the wait and tree succeed.
3. Shutdown the tree
4. Execute the tree again.

Screenshots

No response

Logs

No response

ROS2 Version

Rolling, Humble, Iron, Foxy

OS

Ubuntu 20.04, Ubuntu 22.04

Oberacda commented 1 month ago

Fixed in https://github.com/fzi-forschungszentrum-informatik/ros2_ros_bt_py/pull/82