Add runid #5553

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).

adivardi · 2025-09-26T15:30:40Z

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

+        }
+      } catch (const std::exception & e) {
+      // run_id not found on blackboard, use old behavior
+        if (!BT::isStatusActive(status())) {


I am not sure about this, that would be a weird surprise. Maybe just let it crash? It would be the same as if server_timeout is missing.

adivardi · 2025-09-26T15:32:41Z

nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp

+
+  // Subsequent ticks with same RunID should continue without re-initialization
+  result = tree_->tickOnce();
+  EXPECT_EQ(result, BT::NodeStatus::RUNNING);


how come all tests have the same EXPECT_EQ(result, BT::NodeStatus::RUNNING); ?

silanus23 · 2025-09-26T15:54:57Z

Thank you.

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

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.

Signed-off-by: silanus23 <[email protected]>

codecov · 2025-10-23T04:45:05Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...tree/include/nav2_behavior_tree/bt_action_node.hpp	`80.29% <100.00%> (-0.63%)`	⬇️
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <ø> (ø)`
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`88.77% <100.00%> (+0.23%)`	⬆️

... and 1 file with indirect coverage changes

🚀 New features to boost your workflow:

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

Signed-off-by: silanus23 <[email protected]>

SteveMacenski · 2025-10-23T19:16:57Z

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

SteveMacenski · 2025-10-23T19:18:24Z

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

 #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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

+
+  // 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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

    "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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

    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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

      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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

    // 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.

adivardi reviewed Sep 26, 2025

View reviewed changes

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

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp Outdated Show resolved Hide resolved

silanus23 added 4 commits October 23, 2025 07:08

backup

424dd61

Signed-off-by: silanus23 <[email protected]>

test fix

62be59f

Signed-off-by: silanus23 <[email protected]>

making last_run_id_ sentinel value adding more tests.

262742e

Signed-off-by: silanus23 <[email protected]>

lint fixing and longer server time for test

ed08ddc

Signed-off-by: silanus23 <[email protected]>

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

adding uuid hashmap version

b94389c

Signed-off-by: silanus23 <[email protected]>

SteveMacenski reviewed Oct 23, 2025

View reviewed changes

Add runid #5553

Are you sure you want to change the base?

Add runid #5553

Conversation

silanus23 commented Sep 26, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

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:

Uh oh!

silanus23 commented Sep 26, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

adivardi left a comment

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

silanus23 commented Sep 26, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Uh oh!

Uh oh!

SteveMacenski commented Oct 16, 2025

Uh oh!

silanus23 commented Oct 16, 2025

Uh oh!

codecov bot commented Oct 23, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Codecov Report

Uh oh!

SteveMacenski commented Oct 23, 2025

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

SteveMacenski Oct 23, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Choose a reason for hiding this comment

Uh oh!

Reviewers

Assignees

Labels

Projects

Milestone

Development

Uh oh!

3 participants

silanus23 commented Sep 26, 2025 •

edited

Loading

silanus23 commented Sep 26, 2025 •

edited

Loading

silanus23 commented Sep 26, 2025 •

edited

Loading

codecov bot commented Oct 23, 2025 •

edited

Loading

SteveMacenski Oct 23, 2025 •

edited

Loading