From 86e4f596355f0b38e1843171d32aa5499f71f902 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 4 May 2023 13:07:58 +0200
Subject: [PATCH] Halt the tree when the tree returns FAILURE.
---
include/iri_base_bt_client/iri_base_bt_client.h | 2 ++
1 file changed, 2 insertions(+)
diff --git a/include/iri_base_bt_client/iri_base_bt_client.h b/include/iri_base_bt_client/iri_base_bt_client.h
index 7bf61ad..d626e76 100644
--- a/include/iri_base_bt_client/iri_base_bt_client.h
+++ b/include/iri_base_bt_client/iri_base_bt_client.h
@@ -701,6 +701,8 @@ void *IriBaseBTClient<ConfigClass>::mainThread(void *param)
{
iriNode->user_loop();
iriNode->status=iriNode->tree.tickRoot();
+ if(iriNode->status==BT::NodeStatus::FAILURE)
+ iriNode->tree.haltTree();
ROS_DEBUG_STREAM("Tree status: " << iriNode->status);
}
catch(BT::LogicError &e)
--
GitLab