Robot Stuck at Charging Station

miccol / bt_use_cases

A set of use cases of Behavior Trees in ROS2 and C++

MIT License

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Robot Stuck at Charging Station #7

Open robologics1 opened 3 months ago

robologics1 commented 3 months ago

Thanks for your work, I tried to implement your simple case(better xml) . But when robot goes to charging station whatever(setbatterylelvel, chargebattery service) I do, Batterylevelabove condition does not change.

Does it relate with deadlock? Did u ever face with this kind of bug? Any help appriciated.

robologics1 commented 3 months ago

Bug is about; halt/abort goto actions are not getting killed. When goto charging action activated, system gets stuck because of two alive/running goto action.