Bug when using Parallel Node
Opened this issue · 1 comments
Hello
I am using BT in ROS2, and I find my tree not working as expected.
My tree is as follow. The Check_Condition_Bool node returns SUCCESS in default, and if the message is 0 it will return FAILURE.
What I expect is: First ros_topic_1 publish 0, and Sleep_1 will start running. While sleep_1 is running, ros_topic_2 publish 0, then Sleep_2 will also start running, and Sleep_1 and Sleep_2 will be running parallelly.
The result is: When ros_topic_1 published 0,it run as expected. But when ros_topic_2 published 0 after ros_topic_1, the condition of Check_Condition_Bool_2 didn't change to FAILURE.
I have checked that there is no mistake in the code. I think there may be something wrong in the Parallel node. Or maybe I misunderstand the function of Parallel node?
Source code is in the attach files, please help me. Thank you!
More likely the problem is in the ROS subscriber node, not in Parallel.
I will investigate.