How to access the feeback of a BtActionNode in NAV2

I'd like to have access to the feedback of a BtActionNode. For now I'd write it to the BT's blackboard.

I saw that the on_wait_for_result is quite what I need, but the method is called only after timeout of the action.

I wonder why there is no method to access the feedback during the tick execution here, or an user specific method to be called in the feedback callback

Asked by cbn.joao on 2023-06-30 08:58:56 UTC

Comments

Answers

I'm on the go right now so I can't get into all the details, but on_wait_for_result is exactly that method which obtains the feedback at the tick rate. What you point to in "here" is just the goal sending logic, not the waiting around while a long-running action is executed, which is in the code block below (where you see the on wait function process).

Asked by stevemacenski on 2023-06-30 13:24:26 UTC

Comments

Ah ok, I think I didn't get the full picture. Thanks for the explanation. By the way, the integration with BT in nav2_behavior_tree and nav2_bt_navigator is pretty neat.

Asked by cbn.joao on 2023-07-03 04:26:56 UTC