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BT Service Node to throw if service was not available in time #3256

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merged 5 commits into from
Nov 11, 2022
Merged

BT Service Node to throw if service was not available in time #3256

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fc720ca
throw if service server wasn't available in time
guilyx Oct 25, 2022
3262d09
throw if action unavailable in bt cancel action
guilyx Oct 27, 2022
12b2156
use chrono literals namespace
guilyx Oct 27, 2022
e944ca1
fix linting errors
guilyx Nov 3, 2022
01b8af3
fix code style divergence
guilyx Nov 11, 2022
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9 changes: 8 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@
namespace nav2_behavior_tree
{

using namespace std::chrono_literals; // NOLINT

/**
* @brief Abstract class representing an action for cancelling BT node
* @tparam ActionT Type of action
Expand Down Expand Up @@ -87,7 +89,12 @@ class BtCancelActionNode : public BT::ActionNodeBase

// Make sure the server is actually there before continuing
RCLCPP_DEBUG(node_->get_logger(), "Waiting for \"%s\" action server", action_name.c_str());
action_client_->wait_for_action_server();
if (!action_client_->wait_for_action_server(1s)) {
RCLCPP_ERROR(
node_->get_logger(), "\"%s\" action server not available after waiting for 1 s",
action_name.c_str());
throw std::runtime_error(std::string("Action server %s not available", action_name.c_str()));
}
}

/**
Expand Down
13 changes: 12 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <string>
#include <memory>
#include <chrono>

#include "behaviortree_cpp_v3/action_node.h"
#include "nav2_util/node_utils.hpp"
Expand All @@ -26,6 +27,8 @@
namespace nav2_behavior_tree
{

using namespace std::chrono_literals; // NOLINT

/**
* @brief Abstract class representing a service based BT node
* @tparam ServiceT Type of service
Expand Down Expand Up @@ -71,7 +74,15 @@ class BtServiceNode : public BT::ActionNodeBase
RCLCPP_DEBUG(
node_->get_logger(), "Waiting for \"%s\" service",
service_name_.c_str());
service_client_->wait_for_service();
if (!service_client_->wait_for_service(1s)) {
RCLCPP_ERROR(
node_->get_logger(), "\"%s\" service server not available after waiting for 1 s",
service_node_name.c_str());
throw std::runtime_error(
std::string(
"Service server %s not available",
service_node_name.c_str()));
}

RCLCPP_DEBUG(
node_->get_logger(), "\"%s\" BtServiceNode initialized",
Expand Down