Add runid by silanus23 · Pull Request #5553 · ros-navigation/navigation2

silanus23 · 2025-09-26T00:53:54Z

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5036
Primary OS tested on	Ubuntu
Robotic platform tested on	nav2_bringup
Does this PR contain AI generated software?	unit tests
Was this PR description generated by AI software?	Nope

Description of contribution in a few bullet points

I tried to implement the idea at #5036
I added run_id to the blackboard and it's symetrycal to action node template. So that everytime blackboard ticks nodes one can keep track of nodes init time. This is an insurance for synchronization in the background. Made this activated with a parameter so that it won't interfere with current implementations and break them too.

Description of documentation updates required from your changes

Action nodes now have the parameter is_global for this feature.

Description of how this change was tested

I have tested this locally with debug lines it was showing so integration tested too. Besides I wrote backward compatibility tests too.

Future work that may be required in bullet points

In future adding current behavior trees is_global = true for every node
As the final making this a default.

For Maintainers:

Check that any new parameters added are updated in docs.nav2.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
Should this be backported to current distributions? If so, tag with backport-*.

silanus23 · 2025-09-26T05:09:05Z

@adivardi could you give this a review? I just wondered if I comprehend the idea correctly.
Sorry to ping you directly. No worries if you are too busy.
Cheers

adivardi

I left a few comments, but looks good!

We would need to add it to other nodes as well, all the ones that use BT::isStatusActive() to initialize (you can see #5035, though may new nodes were added in the meantime).

silanus23 · 2025-09-26T15:54:57Z

Thank you.

SteveMacenski · 2025-10-16T15:37:47Z

@silanus23 any update?

silanus23 · 2025-10-16T18:43:26Z

@SteveMacenski Sorry for late update. I couldn't give attention in here and other PRs. I am handling my hiring test case. Deadline is tomorrow. After that I beleive I can give others with this an answer in a week.

codecov · 2025-10-23T04:45:05Z

Codecov Report

❌ Patch coverage is 79.76190% with 17 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
.../plugins/condition/distance_traveled_condition.cpp	73.68%	5 Missing ⚠️
...tree/include/nav2_behavior_tree/bt_action_node.hpp	70.00%	3 Missing ⚠️
..._tree/plugins/condition/goal_updated_condition.cpp	83.33%	3 Missing ⚠️
..._tree/plugins/condition/time_expired_condition.cpp	80.00%	3 Missing ⚠️
...ior_tree/plugins/decorator/single_trigger_node.cpp	72.72%	3 Missing ⚠️

Files with missing lines	Coverage Δ
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <ø> (ø)`
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`88.42% <100.00%> (+0.33%)`	⬆️
.../plugins/condition/distance_traveled_condition.hpp	`100.00% <100.00%> (ø)`
..._tree/plugins/condition/goal_updated_condition.hpp	`100.00% <100.00%> (ø)`
..._tree/plugins/condition/time_expired_condition.hpp	`100.00% <100.00%> (ø)`
...ior_tree/plugins/decorator/single_trigger_node.hpp	`100.00% <100.00%> (ø)`
...tree/include/nav2_behavior_tree/bt_action_node.hpp	`75.17% <70.00%> (-4.37%)`	⬇️
..._tree/plugins/condition/goal_updated_condition.cpp	`88.88% <83.33%> (-11.12%)`	⬇️
..._tree/plugins/condition/time_expired_condition.cpp	`90.00% <80.00%> (-10.00%)`	⬇️
...ior_tree/plugins/decorator/single_trigger_node.cpp	`78.57% <72.72%> (-4.77%)`	⬇️
... and 1 more

... and 11 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski · 2025-10-23T19:16:57Z

@adivardi can you review / close any resolved comments from your review?

SteveMacenski · 2025-10-23T19:18:24Z

 #include <string>
 #include <vector>

+#include <boost/uuid/uuid.hpp>


We need to link this / package.xml the dependency? Please only include just the boost libraries required (not all)

SteveMacenski · 2025-10-23T19:18:51Z

+
+  // To keep track of the execution number
+  boost::uuids::random_generator uuid_generator_;
+  std::string run_id_;


Maybe current_run_id_ to be clear?

SteveMacenski · 2025-10-23T19:19:15Z

    "wait_for_service_timeout",
    wait_for_service_timeout_);
-
+  run_id_ = boost::uuids::to_string(uuid_generator_());


Do we ever actually use run_id_? If not, then we don't need to store this as a member.

SteveMacenski · 2025-10-23T19:20:26Z

    if (getInput("server_name", remapped_action_name)) {
      action_name_ = remapped_action_name;
    }
+    getInput("is_global", is_global_);


Question: should this be applied to non-action nodes or only the action nodes?

Also, I think this is also missing the other nodes that have the initialization procedure within their implementations themselves (not just the action server base node). I think that's a key part of the ticket #5036 but I can understand just starting in one spot to get it right before doing all the others!

SteveMacenski · 2025-10-23T19:20:41Z

      BT::InputPort<std::string>("server_name", "Action server name"),
-      BT::InputPort<std::chrono::milliseconds>("server_timeout")
+      BT::InputPort<std::chrono::milliseconds>("server_timeout"),
+      BT::InputPort<bool>("is_global", false, "Use RunID for initialization")


The configuration guide would need to be updated to mention this.

Question: does this make more sense as a BT XML parameter for each and every node, or as a ROS configuration parameter applied to every node automatically from a yaml file? Is there a situation we'd want some nodes to do this and not others?

SteveMacenski · 2025-10-23T19:22:36Z

    // first step to be done only at the beginning of the Action
-    if (!BT::isStatusActive(status())) {
+    if (is_global_) {
+      std::string current_run_id = config().blackboard->get<std::string>("run_id");


We should throw an exception if the run_id is not set but is_global_. That's an invalid situation.

SteveMacenski · 2026-04-08T17:52:27Z

Any updates here? This would be good to get in before the lyrical sync. If this is not going to be picked up again, letting me know would be awesome :-)

mergify · 2026-04-09T21:00:21Z

This pull request is in conflict. Could you fix it @silanus23?

silanus23 · 2026-04-09T21:11:56Z

Currently I think I have added most of them. I will carry on batch by batch.

Edit: When I start to write others I have realized that goal updated and battery nodes in current commit could need a fix please let me+ I have made is_global param node by node cause update conditions of these nodes and siutations can vary user to user.

silanus23 · 2026-04-14T16:14:10Z

@SteveMacenski are these correct nodes? I have gone over the list and some of them might not need so I applied only to these nodes.

silanus23 · 2026-05-06T21:05:29Z

@SteveMacenski Don't want to ping you but can you give this a look please? How should I resolve conflict? Should I drop this runid on those nodes?

Signed-off-by: silanus23 <berkantali23@outlook.com>

…des and their tests Signed-off-by: silanus23 <berkantali23@outlook.com>

…goal_updated and single_trigger node updated. Signed-off-by: silanus23 <berkantali23@outlook.com>

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 · 2026-05-27T09:06:21Z

Later looking back at conflicting PRs I have seen they are only commenting PRs, I thought that it was something that can deprecate ruin-id at first. So I have handled conflict. That's on me for being too presumptuous :/.

I will try to send videos where changes log so review process will be easier.

Edit: I later realized typos I will solve them

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 · 2026-05-28T15:15:38Z

https://drive.google.com/drive/folders/1_9RymXihTLZuSZ7DOTpwUuDvpsBrIR5c
in above time expired, goal updated and distance traveled nodes logging with runid change

https://drive.google.com/drive/folders/1_9RymXihTLZuSZ7DOTpwUuDvpsBrIR5c
in above single trigger node logging with runid change

I didn't add these nodes
goal reached condition: not about runid it's about current place.

battery nodes + is_stopped: live conditions, independent from run

Transfrom available condition: This is latch based so runid would ruin this.

I guess these are only ones in that list.

I will implement on remaining controller decorators too.

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 · 2026-05-28T22:23:05Z

OK I have now added controller nodes. I was not sure about the logic of time expired, distance traversed likes. I moved as said in the header. It says it reinits with halts so I reinited them with new runid. I have added initialize to some of those node.

I really wonder what you think about nodes I didn't add. They are diffirent than others even they are asynchronus. I am not sure about goal updated condition too.

About should this be 1 yaml param or unique xml port question: While implementing I have seen runid is effecting some of them in really diff aspects I would use xml port but that's a guess I am not sure if I can come up with a scenario.

Lastly I have tried every node I implemented with log system like I have sent videos above. They all work and robot moves.

silanus23 · 2026-06-03T19:57:49Z

Hey before going offline I reviewed code again. I had seen some problems.
I am still not sure about goal nodes (goal updated condition, goal updated decorator, goal updater). I will wait for answer I can drop the goal updated's implementation. According to me no need since new goal is restarting every node again.
I am not sure about no runid should throw std::runtime_error or BT::RunTimeError.
I should put e.what() for throws.
there are copy paste left over else blocks. I will delete them too :/

I will try to push these changes tomorrow.

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 · 2026-06-05T23:29:00Z

dropped goal updated cause a new run already comes with a new goal, so it already returns SUCCESS on its own runid wouldn't add anything, just suppress it. not 100% sure, can add it back if wanted. switched to bt error system as said in the prev msg I now take is global from bt input port so I wrote them to nav2_tree_nodes.xml.

adivardi reviewed Sep 26, 2025

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SteveMacenski linked an issue Sep 29, 2025 that may be closed by this pull request

Behavior Tree: Add RunID Blackboard variable, and global version to Asynchronous nodes #5036

Open

SteveMacenski requested changes Sep 29, 2025

View reviewed changes

Comment thread nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated

silanus23 force-pushed the add-runid branch from c4acce0 to ed08ddc Compare October 23, 2025 04:08

SteveMacenski reviewed Oct 23, 2025

View reviewed changes

silanus23 force-pushed the add-runid branch from b94389c to c354615 Compare April 9, 2026 20:59

silanus23 requested a review from SteveMacenski April 9, 2026 21:00

silanus23 marked this pull request as ready for review April 14, 2026 18:55

silanus23 added 9 commits May 27, 2026 11:57

backup

c280c7a

Signed-off-by: silanus23 <berkantali23@outlook.com>

test fix

d4b1654

Signed-off-by: silanus23 <berkantali23@outlook.com>

making last_run_id_ sentinel value adding more tests.

6486ba8

Signed-off-by: silanus23 <berkantali23@outlook.com>

lint fixing and longer server time for test

5a8d4e9

Signed-off-by: silanus23 <berkantali23@outlook.com>

adding uuid hashmap version

99893c5

Signed-off-by: silanus23 <berkantali23@outlook.com>

handling conflitcs and reviews of action nodes.

6f6ccfe

Signed-off-by: silanus23 <berkantali23@outlook.com>

Deleting unnecessary complicated tests, adding necessary condition no…

901dec8

…des and their tests Signed-off-by: silanus23 <berkantali23@outlook.com>

reverting is_battery_charging and is_battery_low to defaults, fixing …

852c02d

…goal_updated and single_trigger node updated. Signed-off-by: silanus23 <berkantali23@outlook.com>

Reverting unnecessary deletions.

a404757

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 force-pushed the add-runid branch from a0544e1 to a404757 Compare May 27, 2026 09:04

silanus23 added 3 commits May 28, 2026 17:37

take input on initialization

d70210f

Signed-off-by: silanus23 <berkantali23@outlook.com>

delete unnecessary boost includes

6343123

Signed-off-by: silanus23 <berkantali23@outlook.com>

typo fix

09da41e

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 added 7 commits May 28, 2026 20:21

fix single trigger node

03fe582

Signed-off-by: silanus23 <berkantali23@outlook.com>

add runid to ratecontroller

4c019a8

Signed-off-by: silanus23 <berkantali23@outlook.com>

add runid to distancecontroller

9a8860d

Signed-off-by: silanus23 <berkantali23@outlook.com>

change time expired and distance traveled into correct sementics

7250c04

Signed-off-by: silanus23 <berkantali23@outlook.com>

message standardization

910e1a0

Signed-off-by: silanus23 <berkantali23@outlook.com>

add initialize function to needed nodes

724e56c

Signed-off-by: silanus23 <berkantali23@outlook.com>

add speed controller runid

32c3d5d

Signed-off-by: silanus23 <berkantali23@outlook.com>

silanus23 added 4 commits June 6, 2026 02:03

update to open throw messages and bt runtime error

496875f

Signed-off-by: silanus23 <berkantali23@outlook.com>

commit fix

3a3935f

Signed-off-by: silanus23 <berkantali23@outlook.com>

take back overfix

e5a0f9c

Signed-off-by: silanus23 <berkantali23@outlook.com>

write inputs to node definitions

64debcb

Signed-off-by: silanus23 <berkantali23@outlook.com>

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Basic Info

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

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