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correctly initialize drive on heading action node #5053

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Merged
merged 1 commit into from
Apr 4, 2025
Merged

correctly initialize drive on heading action node #5053

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3 changes: 0 additions & 3 deletions nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,6 @@ class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeadi
* @brief Function to perform some user-defined operation upon cancellation of the action
*/
BT::NodeStatus on_cancelled() override;

private:
bool initialized_;
};

} // namespace nav2_behavior_tree
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6 changes: 2 additions & 4 deletions nav2_behavior_tree/plugins/action/drive_on_heading_action.cpp
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Expand Up @@ -24,8 +24,7 @@ DriveOnHeadingAction::DriveOnHeadingAction(
const std::string & xml_tag_name,
const std::string & action_name,
const BT::NodeConfiguration & conf)
: BtActionNode<nav2_msgs::action::DriveOnHeading>(xml_tag_name, action_name, conf),
initialized_(false)
: BtActionNode<nav2_msgs::action::DriveOnHeading>(xml_tag_name, action_name, conf)
{
}

Expand All @@ -47,12 +46,11 @@ void DriveOnHeadingAction::initialize()
goal_.speed = speed;
goal_.time_allowance = rclcpp::Duration::from_seconds(time_allowance);
goal_.disable_collision_checks = disable_collision_checks;
initialized_ = true;
}

void DriveOnHeadingAction::on_tick()
{
if (!initialized_) {
if (!BT::isStatusActive(status())) {
initialize();
}
}
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