SendGoal Action not allowing other nodes to tick and unable to halt properly

[LihanChen2004]

OS: Ubuntu22.04
BT version: BehaviorTree 4.5, BehaviorTree.ROS2 latest

Hello! I'd like to ask why when my SendGoal Action (inherited from RosActionNode) is executed, the other nodes in the entire tree are no longer being ticked. Instead, they wait until SendGoal Action receives success from Navigation2 before continuing to tick other nodes (like SubAllRobotHP, Sub...). This leads to me not knowing how to halt SendGoal. Is there an issue with my programming approach? Thank you very much if anybody can help me!

Monitor (The same result occurs even if the RateController is removed)

When executed the SendGoal Action. Terminal only returns:

Distance remaining: 2.0
Distance remaining: 1.9
Distance remaining: 1.5
Distance remaining: 1.0
......
Distance remaining: 0.0

Here is my code.(SendGoal.cpp)

#include "rm_behavior_tree/plugins/action/send_goal.hpp"

namespace rm_behavior_tree
{

SendGoalAction::SendGoalAction(
  const std::string & name, const BT::NodeConfig & conf, const BT::RosNodeParams & params)
: RosActionNode<nav2_msgs::action::NavigateToPose>(name, conf, params)
{
}

bool SendGoalAction::setGoal(nav2_msgs::action::NavigateToPose::Goal & goal)
{
  auto res = getInput<geometry_msgs::msg::PoseStamped>("goal_pose");
  if (!res) {
    throw BT::RuntimeError("error reading port [goal_pose]:", res.error());
  }
  goal.pose = res.value();
  goal.pose.header.frame_id = "map";
  goal.pose.header.stamp = rclcpp::Clock().now();

  // clang-format off
  std::cout << "Goal_pose: [ "
    << std::fixed << std::setprecision(1)
    << goal.pose.pose.position.x << ", "
    << goal.pose.pose.position.y << ", "
    << goal.pose.pose.position.z << ", "
    << goal.pose.pose.orientation.x << ", "
    << goal.pose.pose.orientation.y << ", "
    << goal.pose.pose.orientation.z << ", "
    << goal.pose.pose.orientation.w << " ]\n";
  // clang-format on

  return true;
}

void SendGoalAction::onHalt()
{
  RCLCPP_INFO(node_->get_logger(), "SendGoalAction has been halted.");
}

BT::NodeStatus SendGoalAction::onResultReceived(const WrappedResult & wr)
{
  switch (wr.code) {
    case rclcpp_action::ResultCode::SUCCEEDED:
      std::cout << "Success!!!" << '\n';
      return BT::NodeStatus::SUCCESS;
      break;
    case rclcpp_action::ResultCode::ABORTED:
      std::cout << "Goal was aborted" << '\n';
      return BT::NodeStatus::FAILURE;
      break;
    case rclcpp_action::ResultCode::CANCELED:
      std::cout << "Goal was canceled" << '\n';
      return BT::NodeStatus::FAILURE;
      break;
    default:
      std::cout << "Unknown result code" << '\n';
      return BT::NodeStatus::FAILURE;
      break;
  }
}

BT::NodeStatus SendGoalAction::onFeedback(
  const std::shared_ptr<const nav2_msgs::action::NavigateToPose::Feedback> feedback)
{
  std::cout << "Distance remaining: " << feedback->distance_remaining << '\n';
  return BT::NodeStatus::RUNNING;
}

BT::NodeStatus SendGoalAction::onFailure(BT::ActionNodeErrorCode error)
{
  RCLCPP_ERROR(node_->get_logger(), "SendGoalAction failed with error code: %d", error);
  return BT::NodeStatus::FAILURE;
}

}  // namespace rm_behavior_tree

#include "behaviortree_ros2/plugins.hpp"
CreateRosNodePlugin(rm_behavior_tree::SendGoalAction, "SendGoal");

Additionally, I have noticed that if the program enters the SendGoal Action, and at this point I try to exit the program using Ctrl+C, it remains unable to exit.

^C[INFO] [1711783006.794006880] [rclcpp]: signal_handler(signum=2)

[LihanChen2004]

I solved the problem myself. By replacing AsyncSequence with ReactiveSequence, other nodes will continue to be ticked even if one node returns RUNNING. By replacing IfThenElse with WhileDoElse, the currently executing node will be interrupted if the condition of the if changes. I have a further understanding of the word "reactive".