PR #889 changed added support for collision checking to the motion primitives, however, they always return SUCCESS to a motion request, regardless of whether they successfully completed the action. They should return FAILURE if they failed to complete the action. The bt_navigator behavior tree needs to be updated to deal with this appropriately.
crdelsey
commented
5 years ago
Bug report
PR #889 changed added support for collision checking to the motion primitives, however, they always return SUCCESS to a motion request, regardless of whether they successfully completed the action. They should return FAILURE if they failed to complete the action. The bt_navigator behavior tree needs to be updated to deal with this appropriately.