BT Service Node to throw if service was not available in time

[guilyx]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	No ticket
Primary OS tested on	Ubuntu (ros2 rolling docker)
Robotic platform tested on	gazebo simulation serena

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Description of contribution in a few bullet points

• Mimics the behavior of the bt action node constructor. If the server is not available, throws.

Description of documentation updates required from your changes

Don't think it's needed.

---

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[mergify]

@guilyx, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[jwallace42]

Thanks for the pr!

I would also change this to keep consistent.

Once you get that in you should be good to go.

[guilyx]

I missed that one! Thx, will do

[mergify]

@guilyx, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[jwallace42]

Looks like your CI is failing due to linting errors.

To see the errors locally run
ament_cpplint (lint errors)
ament_uncrustify (style errors)

inside the directory of the files you changed. Fix these errors and push again.

[SteveMacenski]

- nav2_behavior_tree.cpplint whitespace/end_of_line [4] (/opt/overlay_ws/src/navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp:29)
  <<< failure message
    Line ends in whitespace.  Consider deleting these extra spaces.
  >>>
- nav2_behavior_tree.cpplint whitespace/end_of_line [4] (/opt/overlay_ws/src/navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp:29)
  <<< failure message
    Line ends in whitespace.  Consider deleting these extra spaces.
  >>>
- nav2_behavior_tree.cpplint whitespace/line_length [2] (/opt/overlay_ws/src/navigation2/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp:81)
  <<< failure message
    Lines should be <= 100 characters long
  >>>
test_results/nav2_behavior_tree/uncrustify.xunit.xml: 154 tests, 0 errors, 2 failures, 0 skipped
- nav2_behavior_tree.uncrustify include/nav2_behavior_tree/bt_cancel_action_node.hpp
  <<< failure message
    Diff with 5 lines
  >>>
- nav2_behavior_tree.uncrustify include/nav2_behavior_tree/bt_service_node.hpp
  <<< failure message
    Diff with 11 lines
  >>>

Please fix linting errors and will merge. Sorry for the delay, last week was ROSCon/IROS and I was out in Japan.

[SteveMacenski]

You still have linting errors.

--- include/nav2_behavior_tree/bt_service_node.hpp
    +++ include/nav2_behavior_tree/bt_service_node.hpp.uncrustify
    @@ -82 +82 @@
    -        std::string("Service server %s not available", service_node_name.c_str()));
    +              std::string("Service server %s not available", service_node_name.c_str()));

Please run the static analysis tools locally so you know you squashed them all ament_cpplint ament_uncrustify

[SteveMacenski]

@guilyx super small linting issue to get this merged to make CI pass. Can you take care of this?

[codecov]

Codecov Report

Base: 82.28% // Head: 82.10% // Decreases project coverage by -0.18% ⚠️

Coverage data is based on head (01b8af3) compared to base (21eea4c).
Patch coverage: 28.57% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3256      +/-   ##
==========================================
- Coverage   82.28%   82.10%   -0.19%     
==========================================
  Files         341      341              
  Lines       15537    15542       +5     
==========================================
- Hits        12784    12760      -24     
- Misses       2753     2782      +29     

Impacted Files	Coverage Δ
...ree/include/nav2_behavior_tree/bt_service_node.hpp	95.00% <25.00%> (-5.00%)	⬇️
...clude/nav2_behavior_tree/bt_cancel_action_node.hpp	85.71% <33.33%> (-6.60%)	⬇️
...av2_dwb_controller/dwb_critics/src/oscillation.cpp	72.00% <0.00%> (-22.67%)	⬇️
..._planner/include/nav2_smac_planner/node_hybrid.hpp	92.85% <0.00%> (-7.15%)	⬇️
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	94.80% <0.00%> (-2.60%)	⬇️
..._amcl/src/sensors/laser/likelihood_field_model.cpp	95.00% <0.00%> (-2.50%)	⬇️
...ostmap_2d/plugins/costmap_filters/speed_filter.cpp	95.18% <0.00%> (-2.41%)	⬇️
nav2_lifecycle_manager/src/lifecycle_manager.cpp	91.12% <0.00%> (-0.94%)	⬇️
nav2_amcl/src/amcl_node.cpp	69.33% <0.00%> (-0.42%)	⬇️
..._dwb_controller/dwb_critics/src/rotate_to_goal.cpp	91.11% <0.00%> (+8.88%)	⬆️

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[SteveMacenski]

Thanks!