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Add the ability for ros actions nodes to get access to the action result even on failure #79

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Add the ability for ros actions nodes to get access to the action result even on failure #79

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18 changes: 13 additions & 5 deletions behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <memory>
#include <string>
#include <optional>
#include <rclcpp/executors.hpp>
#include <rclcpp/allocator/allocator_common.hpp>
#include "behaviortree_cpp/action_node.h"
Expand Down Expand Up @@ -152,8 +153,15 @@ class RosActionNode : public BT::ActionNodeBase
}

/** Callback invoked when something goes wrong.
* The result is provided if it is available.
* It must return either SUCCESS or FAILURE.
*/
virtual BT::NodeStatus onFailure(ActionNodeErrorCode error,
const std::optional<WrappedResult>&)
{
return onFailure(error);
}

virtual BT::NodeStatus onFailure(ActionNodeErrorCode /*error*/)
{
return NodeStatus::FAILURE;
Expand Down Expand Up @@ -390,7 +398,7 @@ inline NodeStatus RosActionNode<T>::tick()

if(!setGoal(goal))
{
return CheckStatus(onFailure(INVALID_GOAL));
return CheckStatus(onFailure(INVALID_GOAL, {}));
}

typename ActionClient::SendGoalOptions goal_options;
Expand Down Expand Up @@ -432,7 +440,7 @@ inline NodeStatus RosActionNode<T>::tick()
// Check if server is ready
if(!action_client->action_server_is_ready())
{
return onFailure(SERVER_UNREACHABLE);
return onFailure(SERVER_UNREACHABLE, {});
}

future_goal_handle_ = action_client->async_send_goal(goal, goal_options);
Expand All @@ -459,7 +467,7 @@ inline NodeStatus RosActionNode<T>::tick()
{
if((now() - time_goal_sent_) > timeout)
{
return CheckStatus(onFailure(SEND_GOAL_TIMEOUT));
return CheckStatus(onFailure(SEND_GOAL_TIMEOUT, {}));
}
else
{
Expand Down Expand Up @@ -490,11 +498,11 @@ inline NodeStatus RosActionNode<T>::tick()
{
if(result_.code == rclcpp_action::ResultCode::ABORTED)
{
return CheckStatus(onFailure(ACTION_ABORTED));
return CheckStatus(onFailure(ACTION_ABORTED, result_));
}
else if(result_.code == rclcpp_action::ResultCode::CANCELED)
{
return CheckStatus(onFailure(ACTION_CANCELLED));
return CheckStatus(onFailure(ACTION_CANCELLED, result_));
}
else
{
Expand Down