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Use BT.CPP Tree::sleep #4761

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merged 8 commits into from
Nov 27, 2024
+89 −5
Merged

Use BT.CPP Tree::sleep #4761

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ff7858d
Use BT.cpp sleep
tonynajjar Nov 22, 2024
41485e2
Implement BT Loop Rate
tonynajjar Nov 25, 2024
7ea6085
Fix formatting
tonynajjar Nov 25, 2024
c542a63
Fix formatting
tonynajjar Nov 25, 2024
bb48304
move to nav2_behavior_tree
tonynajjar Nov 26, 2024
64b5578
fix
tonynajjar Nov 26, 2024
12a9d62
fix lint
tonynajjar Nov 26, 2024
24c36cd
cache
tonynajjar Nov 26, 2024
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9 changes: 1 addition & 8 deletions nav2_behavior_tree/src/behavior_tree_engine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,6 @@ BehaviorTreeEngine::run(
std::function<bool()> cancelRequested,
std::chrono::milliseconds loopTimeout)
{
rclcpp::WallRate loopRate(loopTimeout);
BT::NodeStatus result = BT::NodeStatus::RUNNING;

// Loop until something happens with ROS or the node completes
Expand All @@ -64,13 +63,7 @@ BehaviorTreeEngine::run(

onLoop();

if (!loopRate.sleep()) {
RCLCPP_DEBUG_THROTTLE(
rclcpp::get_logger("BehaviorTreeEngine"),
*clock_, 1000,
"Behavior Tree tick rate %0.2f was exceeded!",
1.0 / (loopRate.period().count() * 1.0e-9));
}
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tree->sleep(loopTimeout);
}
} catch (const std::exception & ex) {
RCLCPP_ERROR(
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