add response to the service on completion (ros-navigation#2992)

omarwalid96 · Jun 2, 2022 · 12b0fcf · 12b0fcf
1 parent 30048b4
commit 12b0fcf
Showing 1 changed file with 3 additions and 2 deletions.
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
@@ -145,9 +145,10 @@ class BtServiceNode : public BT::ActionNodeBase
   /**
    * @brief Function to perform some user-defined operation upon successful
    * completion of the service. Could put a value on the blackboard.
+   * @param response can be used to get the result of the service call in the BT Node.
    * @return BT::NodeStatus Returns SUCCESS by default, user may override to return another value
    */
-  virtual BT::NodeStatus on_completion()
+  virtual BT::NodeStatus on_completion(std::shared_ptr<typename ServiceT::Response>/*response*/)
   {
     return BT::NodeStatus::SUCCESS;
   }
@@ -168,7 +169,7 @@ class BtServiceNode : public BT::ActionNodeBase
       rc = callback_group_executor_.spin_until_future_complete(future_result_, server_timeout_);
       if (rc == rclcpp::FutureReturnCode::SUCCESS) {
         request_sent_ = false;
-        BT::NodeStatus status = on_completion();
+        BT::NodeStatus status = on_completion(future_result_.get());
         return status;
       }