Add wrap_around parameter to RoundRobin node to control wrap-around behavior #5308
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…ehavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes #5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>
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@DylanDeCoeyer-Quimesis please review and test quickly to validate that this resolves your concern :-) |
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
Signed-off-by: Steve Macenski <stevenmacenski@gmail.com>
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@DylanDeCoeyer-Quimesis can you please review? |
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@SteveMacenski do a docs PR |
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- Add wrap_around parameter to RoundRobin configuration documentation - Add migration guide entry for the new parameter in Kilted.rst - Document breaking change: default behavior changed to non-wrap-around - Include usage examples and reference to configuration guide Implements documentation for ros-navigation/navigation2#5308 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com>
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…818) - Add wrap_around parameter to RoundRobin configuration documentation - Add migration guide entry for the new parameter in Kilted.rst - Document breaking change: default behavior changed to non-wrap-around - Include usage examples and reference to configuration guide Implements documentation for ros-navigation/navigation2#5308 Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
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…ehavior (ros-navigation#5308) * Add wrap_around parameter to RoundRobin node to control wrap-around behavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes ros-navigation#5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing BT unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com> Signed-off-by: Christopher Thompson <cthompson@metalsharkboats.com>
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…ehavior (ros-navigation#5308) * Add wrap_around parameter to RoundRobin node to control wrap-around behavior - Add boolean wrap_around parameter (default: false) to RoundRobin node - When wrap_around=false, node returns FAILURE instead of wrapping to first child - Updated XML node definition to include new parameter - Existing behavior tree XMLs will use new non-wrap-around behavior by default - Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter Fixes ros-navigation#5033 Co-authored-by: Steve Macenski <SteveMacenski@users.noreply.github.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Update round_robin_node.hpp Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Fixing BT unit tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> * Updating system tests Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> --------- Signed-off-by: Steve Macenski <stevenmacenski@gmail.com> Co-authored-by: claude[bot] <209825114+claude[bot]@users.noreply.github.com>
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This PR implements the feature requested in #5033 to add a boolean parameter that controls whether the RoundRobin behavior tree node wraps around to its first child after the last one fails.
Changes
wrap_aroundboolean parameter (default: false) to RoundRobin nodewrap_around=false, node returns FAILURE instead of wrapping to first childProblem Solved
Addresses issue where RoundRobin index can become misaligned with RecoveryNode retry counter when used in recovery sequences. The new default behavior (no wrap-around) ensures each recovery action is performed once and only once.
Fixes #5033
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