fix(behavior_path_planner): use SUCCESS instead of IDLE when onExit (a…

…utowarefoundation#2391) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
HansRobo · Nov 30, 2022 · 1b77bba · 1b77bba
1 parent 08f5eaf
commit 1b77bba
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Showing 7 changed files with 6 additions and 7 deletions.
diff --git a/...ath_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp b/...ath_planner/include/behavior_path_planner/scene_module/scene_module_bt_node_interface.hpp
@@ -31,7 +31,7 @@ struct SceneModuleStatus
   bool is_requested{false};
   bool is_execution_ready{false};
   bool is_waiting_approval{false};
-  BT::NodeStatus status{BT::NodeStatus::IDLE};
+  BT::NodeStatus status{BT::NodeStatus::SUCCESS};
 };
 
 class SceneModuleBTNodeInterface : public BT::CoroActionNode

diff --git a/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp b/...havior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
@@ -87,7 +87,7 @@ class SceneModuleInterface
     clock_{node.get_clock()},
     uuid_(generateUUID()),
     is_waiting_approval_{false},
-    current_state_{BT::NodeStatus::IDLE}
+    current_state_{BT::NodeStatus::SUCCESS}
   {
     std::string module_ns;
     module_ns.resize(name.size());

diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -2647,7 +2647,7 @@ void AvoidanceModule::onExit()
 {
   DEBUG_PRINT("AVOIDANCE onExit");
   initVariables();
-  current_state_ = BT::NodeStatus::IDLE;
+  current_state_ = BT::NodeStatus::SUCCESS;
   clearWaitingApproval();
   removeRTCStatus();
   steering_factor_interface_ptr_->clearSteeringFactors();

diff --git a/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp b/planning/behavior_path_planner/src/scene_module/lane_following/lane_following_module.cpp
@@ -65,7 +65,7 @@ void LaneFollowingModule::onEntry()
 void LaneFollowingModule::onExit()
 {
   initParam();
-  current_state_ = BT::NodeStatus::IDLE;
+  current_state_ = BT::NodeStatus::SUCCESS;
   RCLCPP_DEBUG(getLogger(), "LANE_FOLLOWING onExit");
 }
 

diff --git a/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
@@ -100,7 +100,7 @@ void PullOutModule::onExit()
   clearWaitingApproval();
   removeRTCStatus();
   steering_factor_interface_ptr_->clearSteeringFactors();
-  current_state_ = BT::NodeStatus::IDLE;
+  current_state_ = BT::NodeStatus::SUCCESS;
   RCLCPP_DEBUG(getLogger(), "PULL_OUT onExit");
 }
 

diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -184,7 +184,6 @@ void PullOverModule::onExit()
   steering_factor_interface_ptr_->clearSteeringFactors();
 
   // A child node must never return IDLE
-  // https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/include/behaviortree_cpp_v3/basic_types.h#L34
   current_state_ = BT::NodeStatus::SUCCESS;
 }
 

diff --git a/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp b/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp
@@ -63,7 +63,7 @@ void SideShiftModule::onExit()
   // write me...
   initVariables();
 
-  current_state_ = BT::NodeStatus::IDLE;
+  current_state_ = BT::NodeStatus::SUCCESS;
 }
 
 void SideShiftModule::setParameters(const SideShiftParameters & parameters)