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How to access the feeback of a BtActionNode in NAV2

asked 2023-06-30 08:58:56 -0500

cbn.joao
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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

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answered 2023-06-30 13:24:26 -0500

stevemacenski

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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).

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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.

cbn.joao ( 2023-07-03 04:26:56 -0500 )edit

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Asked: 2023-06-30 08:58:56 -0500

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Last updated: Jun 30 '23

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How to access the feeback of a BtActionNode in NAV2