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Preempting and recalling are active states by Timple · Pull Request #23 · BehaviorTree/BehaviorTree.ROS · GitHub

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Preempting and recalling are active states #23

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Preempting and recalling are active states #23

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7 changes: 4 additions & 3 deletions include/behaviortree_ros/bt_action_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ class RosActionNode : public BT::ActionNodeBase
REJECTED_BY_SERVER = 2
};

/// Called when a service call failed. Can be overriden by the user.
/// Called when a service call failed. Can be overridden by the user.
virtual NodeStatus onFailedRequest(FailureCause failure)
{
return NodeStatus::FAILURE;
Expand Down Expand Up @@ -138,8 +138,9 @@ class RosActionNode : public BT::ActionNodeBase

// Please refer to these states

if( action_state == actionlib::SimpleClientGoalState::PENDING ||
action_state == actionlib::SimpleClientGoalState::ACTIVE )
if( action_state == actionlib::SimpleClientGoalState::ACTIVE ||
action_state == actionlib::SimpleClientGoalState::PENDING ||
action_state == actionlib::SimpleClientGoalState::PREEMPTING )
{
return NodeStatus::RUNNING;
}
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