Add-flag-to-not-send-goal-in-BTactionnode

[tonynajjar]

• Added a flag to not send goal in BtActionNode

Signed-off-by: Owen Hooper [email protected]

• Fixed cpplint and uncrustify issues.

• Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

Signed-off-by: Owen Hooper [email protected]
Co-authored-by: Steve Macenski [email protected]
(cherry picked from commit 8e7090b)

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[tonynajjar]

This will allow to not send a goal from the on_tick() of our BT action nodes (e.g. if input validation fails). It's already on master, just backporting it in our fork

[HovorunB]

Cool!

[tonynajjar]

@jplapp @andriimaistruk merging as this is simply a backport but feel free to leave comments

[tonynajjar]

FYI opened https://github.com/ros-planning/navigation2/pull/3431/files to enable in for BTServiceNode as well