ComputePathToPose Sets empty path on blackboard if action is aborted …

…or cancelled (#3114)

* set empty path on black on failure

* docs

* switched to correct message type

* set empty path for compute_path_through_poses

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp

@@ -54,6 +54,16 @@ class ComputePathThroughPosesAction
    */
   BT::NodeStatus on_success() override;
 
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancelation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports

nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp

@@ -51,6 +51,16 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
    */
   BT::NodeStatus on_success() override;
 
+  /**
+   * @brief Function to perform some user-defined operation upon abortion of the action
+   */
+  BT::NodeStatus on_aborted() override;
+
+  /**
+   * @brief Function to perform some user-defined operation upon cancelation of the action
+   */
+  BT::NodeStatus on_cancelled() override;
+
   /**
    * @brief Creates list of BT ports
    * @return BT::PortsList Containing basic ports along with node-specific ports

nav2_behavior_tree/plugins/action/compute_path_through_poses_action.cpp

@@ -44,6 +44,18 @@ BT::NodeStatus ComputePathThroughPosesAction::on_success()
   return BT::NodeStatus::SUCCESS;
 }
 
+BT::NodeStatus ComputePathThroughPosesAction::on_aborted() {
+  nav_msgs::msg::Path empty_path;
+  setOutput("path", empty_path);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus ComputePathThroughPosesAction::on_cancelled() {
+  nav_msgs::msg::Path empty_path;
+  setOutput("path", empty_path);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"

nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp

@@ -43,6 +43,20 @@ BT::NodeStatus ComputePathToPoseAction::on_success()
   return BT::NodeStatus::SUCCESS;
 }
 
+BT::NodeStatus ComputePathToPoseAction::on_aborted()
+{
+  nav_msgs::msg::Path empty_path;
+  setOutput("path", empty_path);
+  return BT::NodeStatus::FAILURE;
+}
+
+BT::NodeStatus ComputePathToPoseAction::on_cancelled()
+{
+  nav_msgs::msg::Path empty_path;
+  setOutput("path", empty_path);
+  return BT::NodeStatus::SUCCESS;
+}
+
 }  // namespace nav2_behavior_tree
 
 #include "behaviortree_cpp_v3/bt_factory.h"