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When moving a stage is it an Input or a Bidirectional Port ? Because the blackboard value is set to nullptr we should set the port to Bidirectional.
Halting an MTC Task::plan()
This PlanMTCTask BT node is derived from the ThreadedAction which makes planning in another thread. To be reactive, the plan must hbe preemptable. To this end, 2 PR's where submitted/merged to reduce the time it takes to preempt a task. But there are still some cases where an MTC stage is planning something long where it cannot be preempted.
The text was updated successfully, but these errors were encountered:
A reminder of things to do before releasing a
1.0.0
release.TODO:
set
+configureInitFrom
+exposeTo
)GroupPlannerVector
in the BT. Or create a new class.thread-safe
. Documentation.BT PlanMTCTask
by checking theisHaltRequested
. Documentation. Probably needs a PR in MTC to add a callback in the plan method.Namespace
I would propose these changes to better align with BehaviorTree.CPP:
BT Ports
When moving a stage is it an Input or a Bidirectional Port ? Because the blackboard value is set to nullptr we should set the port to
Bidirectional
.Halting an MTC Task::plan()
This PlanMTCTask BT node is derived from the ThreadedAction which makes planning in another thread. To be reactive, the plan must hbe preemptable. To this end, 2 PR's where submitted/merged to reduce the time it takes to preempt a task. But there are still some cases where an MTC stage is planning something long where it cannot be preempted.
The text was updated successfully, but these errors were encountered: