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Bt-sample executor was throwing an issue during shutdown #136

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Bt-sample executor was throwing an issue during shutdown #136

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26 changes: 21 additions & 5 deletions behaviortree_ros2/src/tree_execution_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,7 +105,17 @@ TreeExecutionServer::TreeExecutionServer(const rclcpp::Node::SharedPtr& node)
}

TreeExecutionServer::~TreeExecutionServer()
{}
{
if(p_->single_shot_timer)
{
p_->single_shot_timer->cancel();
}

if(p_->action_thread.joinable())
{
p_->action_thread.join();
}
}

void TreeExecutionServer::executeRegistration()
{
Expand Down Expand Up @@ -209,12 +219,12 @@ void TreeExecutionServer::execute(

// operations to be done if the tree execution is aborted, either by
// cancel requested or by onLoopAfterTick()
auto stop_action = [this, &action_result](BT::NodeStatus status,
auto stop_action = [this, &action_result](BT::NodeStatus status, bool was_cancelled,
const std::string& message) {
p_->tree.haltTree();
action_result->node_status = ConvertNodeStatus(status);
// override the message value if the user defined function returns it
if(auto msg = onTreeExecutionCompleted(status, true))
if(auto msg = onTreeExecutionCompleted(status, was_cancelled))
{
action_result->return_message = msg.value();
}
Expand All @@ -229,7 +239,7 @@ void TreeExecutionServer::execute(
{
if(goal_handle->is_canceling())
{
stop_action(status, "Action Server canceling and halting Behavior Tree");
stop_action(status, true, "Action Server canceling and halting Behavior Tree");
goal_handle->canceled(action_result);
return;
}
Expand All @@ -239,7 +249,7 @@ void TreeExecutionServer::execute(

if(const auto res = onLoopAfterTick(status); res.has_value())
{
stop_action(res.value(), "Action Server aborted by onLoopAfterTick()");
stop_action(res.value(), false, "Action Server aborted by onLoopAfterTick()");
goal_handle->abort(action_result);
return;
}
Expand All @@ -259,6 +269,12 @@ void TreeExecutionServer::execute(
}
loop_deadline += period;
}

if(!rclcpp::ok() && status == BT::NodeStatus::RUNNING)
{
stop_action(status, false, "ROS shutdown detected while Behavior Tree was running");
return;
}
}
catch(const std::exception& ex)
{
Expand Down