Fix notes in BT nodes that check status (#5757)

mini-1235 · web-flow · commit f4305502b14b · 2025-12-04T09:48:57.000-08:00
* Fix notes in BT nodes that check status Signed-off-by: Maurice <mauricepurnawan@gmail.com> * Update key once again Signed-off-by: Maurice <mauricepurnawan@gmail.com> * Revert "Update key once again" This reverts commit 93a3b4f. Signed-off-by: Maurice <mauricepurnawan@gmail.com> --------- Signed-off-by: Maurice <mauricepurnawan@gmail.com>
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -34,8 +34,7 @@ using namespace std::chrono_literals;  // NOLINT
 /**
  * @brief Abstract class representing an action based BT node
  * @tparam ActionT Type of action
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 template<class ActionT>
 class BtActionNode : public BT::ActionNodeBase
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -35,8 +35,7 @@ using namespace std::chrono_literals;  // NOLINT
 /**
  * @brief Abstract class representing a service based BT node
  * @tparam ServiceT Type of service
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 template<class ServiceT>
 class BtServiceNode : public BT::ActionNodeBase
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/assisted_teleop_action.hpp
@@ -27,8 +27,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::AssistedTeleop
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/back_up_action.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/clear_costmap_service.hpp
@@ -29,8 +29,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::ClearEntireCostmap
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEntireCostmap>
 {
@@ -54,8 +53,7 @@ class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEnti
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that
  * wraps nav2_msgs::srv::ClearCostmapExceptRegion
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ClearCostmapExceptRegionService
   : public BtServiceNode<nav2_msgs::srv::ClearCostmapExceptRegion>
@@ -94,8 +92,7 @@ class ClearCostmapExceptRegionService
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that
  * wraps nav2_msgs::srv::ClearCostmapAroundRobot
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ClearCostmapAroundRobotService : public BtServiceNode<nav2_msgs::srv::ClearCostmapAroundRobot>
 {
@@ -133,8 +130,7 @@ class ClearCostmapAroundRobotService : public BtServiceNode<nav2_msgs::srv::Clea
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that
  * wraps nav2_msgs::srv::ClearCostmapAroundPose
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ClearCostmapAroundPoseService : public BtServiceNode<nav2_msgs::srv::ClearCostmapAroundPose>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_through_poses_action.hpp
@@ -29,8 +29,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::ComputePathThroughPoses
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ComputePathThroughPosesAction
   : public BtActionNode<nav2_msgs::action::ComputePathThroughPoses>
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -27,8 +27,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::ComputePathToPose
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePathToPose>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/controller_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/controller_selector_node.hpp
@@ -35,7 +35,7 @@ namespace nav2_behavior_tree
  * to get the decision about what controller must be used. It is usually used before of
  * the FollowPath. The selected_controller output port is passed to controller_id
  * input port of the FollowPath
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ControllerSelector : public BT::SyncActionNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/drive_on_heading_action.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::DriveOnHeading
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class DriveOnHeadingAction : public BtActionNode<nav2_msgs::action::DriveOnHeading>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/follow_path_action.hpp
@@ -27,8 +27,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::FollowPath
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/goal_checker_selector_node.hpp
@@ -35,7 +35,7 @@ namespace nav2_behavior_tree
  * to get the decision about what goal_checker must be used. It is usually used before of
  * the FollowPath. The selected_goal_checker output port is passed to goal_checker_id
  * input port of the FollowPath
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class GoalCheckerSelector : public BT::SyncActionNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
@@ -28,8 +28,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::NavigateThroughPoses
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::NavigateThroughPoses>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
@@ -28,8 +28,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::NavigateToPose
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPose>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/planner_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/planner_selector_node.hpp
@@ -35,7 +35,7 @@ namespace nav2_behavior_tree
  * to get the decision about what planner must be used. It is usually used before of
  * the ComputePathToPoseAction. The selected_planner output port is passed to planner_id
  * input port of the ComputePathToPoseAction
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class PlannerSelector : public BT::SyncActionNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/progress_checker_selector_node.hpp
@@ -34,7 +34,7 @@ namespace nav2_behavior_tree
  * to get the decision about what progress_checker must be used. It is usually used before of
  * the FollowPath. The selected_progress_checker output port is passed to progress_checker_id
  * input port of the FollowPath
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ProgressCheckerSelector : public BT::SyncActionNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/reinitialize_global_localization_service.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::Empty
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ReinitializeGlobalLocalizationService : public BtServiceNode<std_srvs::srv::Empty>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_in_collision_goals_action.hpp
@@ -31,8 +31,7 @@ namespace nav2_behavior_tree
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that removes goals that are in collision in on the global costmap
  *        wraps nav2_msgs::srv::GetCosts
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class RemoveInCollisionGoals : public BtServiceNode<nav2_msgs::srv::GetCosts>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/remove_passed_goals_action.hpp
@@ -34,7 +34,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A BT::ActionNodeBase that removes goals that the robot passed near to
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class RemovePassedGoals : public BT::ActionNodeBase
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/smoother_selector_node.hpp
@@ -35,7 +35,7 @@ namespace nav2_behavior_tree
  * to get the decision about what smoother must be used. It is usually used before of
  * the FollowPath. The selected_smoother output port is passed to smoother_id
  * input port of the FollowPath
- * @note This is an Asynchronous node. It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class SmootherSelector : public BT::SyncActionNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/spin_action.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Spin
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class SpinAction : public BtActionNode<nav2_msgs::action::Spin>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/toggle_collision_monitor_service.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/toggle_collision_monitor_service.hpp
@@ -24,8 +24,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtServiceNode class that wraps nav2_msgs::srv::Toggle
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class ToggleCollisionMonitorService : public BtServiceNode<nav2_msgs::srv::Toggle>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/wait_action.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::Wait
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class WaitAction : public BtActionNode<nav2_msgs::action::Wait>
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/distance_controller.hpp
@@ -31,8 +31,7 @@ namespace nav2_behavior_tree
 /**
  * @brief A BT::DecoratorNode that ticks its child every time the robot
  * travels a specified distance
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class DistanceController : public BT::DecoratorNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updated_controller.hpp
@@ -32,8 +32,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A BT::DecoratorNode that ticks its child if the goal was updated
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class GoalUpdatedController : public BT::DecoratorNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp
@@ -36,8 +36,7 @@ namespace nav2_behavior_tree
 /**
  * @brief A BT::DecoratorNode that subscribes to a goal topic and updates
  * the current goal on the blackboard
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class GoalUpdater : public BT::DecoratorNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/rate_controller.hpp
@@ -25,8 +25,7 @@ namespace nav2_behavior_tree
 
 /**
  * @brief A BT::DecoratorNode that ticks its child at a specified rate
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class RateController : public BT::DecoratorNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/single_trigger_node.hpp
@@ -26,8 +26,7 @@ namespace nav2_behavior_tree
 /**
  * @brief A BT::DecoratorNode that triggers its child only once and returns FAILURE
  * for every succeeding tick (reset when halted)
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class SingleTrigger : public BT::DecoratorNode
 {
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/speed_controller.hpp
@@ -36,8 +36,7 @@ namespace nav2_behavior_tree
  * @brief A BT::DecoratorNode that ticks its child every at a rate proportional to
  * the speed of the robot. If the robot travels faster, this node will tick its child at a
  * higher frequency and reduce the tick frequency if the robot slows down
- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.
- *       It will re-initialize when halted.
+ * @note It will re-initialize when halted.
  */
 class SpeedController : public BT::DecoratorNode
 {

Original file line number	Diff line number	Diff line change
`@@ -27,8 +27,7 @@ namespace nav2_behavior_tree`
`27`	`27`
`28`	`28`	`/**`
`29`	`29`	`* @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::AssistedTeleop`
`30`		`- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.`
`31`		`- * It will re-initialize when halted.`
	`30`	`+ * @note It will re-initialize when halted.`
`32`	`31`	`*/`
`33`	`32`	`class AssistedTeleopAction : public BtActionNode<nav2_msgs::action::AssistedTeleop>`
`34`	`33`	`{`
Original file line number	Diff line number	Diff line change
`@@ -26,8 +26,7 @@ namespace nav2_behavior_tree`
`26`	`26`
`27`	`27`	`/**`
`28`	`28`	`* @brief A nav2_behavior_tree::BtActionNode class that wraps nav2_msgs::action::BackUp`
`29`		`- * @note This is an Asynchronous (long-running) node which may return a RUNNING state while executing.`
`30`		`- * It will re-initialize when halted.`
	`29`	`+ * @note It will re-initialize when halted.`
`31`	`30`	`*/`
`32`	`31`	`class BackUpAction : public BtActionNode<nav2_msgs::action::BackUp>`
`33`	`32`	`{`
Original file line number	Diff line number	Diff line change
`@@ -35,7 +35,7 @@ namespace nav2_behavior_tree`
`35`	`35`	`* to get the decision about what controller must be used. It is usually used before of`
`36`	`36`	`* the FollowPath. The selected_controller output port is passed to controller_id`
`37`	`37`	`* input port of the FollowPath`
`38`		`- * @note This is an Asynchronous node. It will re-initialize when halted.`
	`38`	`+ * @note It will re-initialize when halted.`
`39`	`39`	`*/`
`40`	`40`	`class ControllerSelector : public BT::SyncActionNode`
`41`	`41`	`{`