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Publish feedback #58

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81a02f9
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fmrico Mar 15, 2026
0149584
Potential fix for pull request finding
fmrico Mar 17, 2026
d5a32aa
Potential fix for pull request finding
fmrico Mar 17, 2026
035658c
Potential fix for pull request finding
fmrico Mar 17, 2026
0d29297
Potential fix for pull request finding
fmrico Mar 17, 2026
d9fd1dc
Potential fix for pull request finding
fmrico Mar 17, 2026
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4 changes: 4 additions & 0 deletions plansys2_bt_example/include/plansys2_bt_example/behavior_tree_nodes/Move.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include <string>
#include <map>
#include <memory>

#include "geometry_msgs/msg/pose.hpp"
#include "nav2_msgs/action/navigate_to_pose.hpp"
Expand All @@ -39,6 +40,9 @@ class Move : public plansys2::BtActionNode<

BT::NodeStatus on_tick() override;
BT::NodeStatus on_success() override;
void on_feedback(
const std::shared_ptr<const nav2_msgs::action::NavigateToPose::Feedback> feedback)
override;
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static BT::PortsList providedPorts()
{
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4 changes: 4 additions & 0 deletions plansys2_bt_example/src/behavior_tree_nodes/ApproachObject.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <string>
#include <iostream>
#include <algorithm>

#include "plansys2_bt_example/behavior_tree_nodes/ApproachObject.hpp"

Expand All @@ -40,6 +41,9 @@ ApproachObject::tick()
{
std::cout << "ApproachObject tick " << counter_ << std::endl;

float completion = std::min(1.0f, counter_ / 5.0f);
config().blackboard->set<float>("completion", completion);
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if (counter_++ < 5) {
return BT::NodeStatus::RUNNING;
} else {
Expand Down
4 changes: 4 additions & 0 deletions plansys2_bt_example/src/behavior_tree_nodes/CloseGripper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <string>
#include <iostream>
#include <algorithm>

#include "plansys2_bt_example/behavior_tree_nodes/CloseGripper.hpp"

Expand All @@ -40,6 +41,9 @@ CloseGripper::tick()
{
std::cout << "CloseGripper tick " << counter_ << std::endl;

float completion = std::min(1.0f, counter_ / 5.0f);
config().blackboard->set<float>("completion", completion);
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if (counter_++ < 5) {
return BT::NodeStatus::RUNNING;
} else {
Expand Down
13 changes: 13 additions & 0 deletions plansys2_bt_example/src/behavior_tree_nodes/Move.cpp
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Expand Up @@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include <algorithm>
#include <string>
#include <iostream>
#include <vector>
Expand Down Expand Up @@ -107,9 +108,21 @@ Move::on_tick()
BT::NodeStatus
Move::on_success()
{
config().blackboard->set<float>("completion", 1.0f);
return BT::NodeStatus::SUCCESS;
}

void
Move::on_feedback(
const std::shared_ptr<const nav2_msgs::action::NavigateToPose::Feedback> feedback)
{
// nav2_sim sends distance_remaining counting down from ~10 to ~0
constexpr float kInitialDistance = 10.0f;
float completion = 1.0f - std::min(
1.0f, std::max(0.0f, feedback->distance_remaining / kInitialDistance));
config().blackboard->set<float>("completion", completion);
}


} // namespace plansys2_bt_tests

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4 changes: 4 additions & 0 deletions plansys2_bt_example/src/behavior_tree_nodes/OpenGripper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@

#include <string>
#include <iostream>
#include <algorithm>

#include "plansys2_bt_example/behavior_tree_nodes/OpenGripper.hpp"

Expand All @@ -40,6 +41,9 @@ OpenGripper::tick()
{
std::cout << "OpenGripper tick " << counter_ << std::endl;

float completion = std::min(1.0f, counter_ / 5.0f);
config().blackboard->set<float>("completion", completion);
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if (counter_++ < 5) {
return BT::NodeStatus::RUNNING;
} else {
Expand Down
4 changes: 4 additions & 0 deletions plansys2_bt_example/src/behavior_tree_nodes/Recharge.cpp
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Expand Up @@ -14,6 +14,7 @@

#include <string>
#include <iostream>
#include <algorithm>

#include "plansys2_bt_example/behavior_tree_nodes/Recharge.hpp"

Expand All @@ -40,6 +41,9 @@ Recharge::tick()
{
std::cout << "Recharge tick " << counter_ << std::endl;

float completion = std::min(1.0f, counter_ / 10.0f);
config().blackboard->set<float>("completion", completion);
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fmrico marked this conversation as resolved.

if (counter_++ < 10) {
return BT::NodeStatus::RUNNING;
} else {
Expand Down
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