Requested changes

Signed-off-by: redvinaa <redvinaa@gmail.com>

Author: redvinaa

nav2_behavior_tree/CMakeLists.txt

@@ -212,8 +212,8 @@ list(APPEND plugin_libs nav2_pipeline_sequence_bt_node)
 add_library(nav2_round_robin_node_bt_node SHARED plugins/control/round_robin_node.cpp)
 list(APPEND plugin_libs nav2_round_robin_node_bt_node)
 
-add_library(nav2_pause_bt_node SHARED plugins/control/pause.cpp)
-list(APPEND plugin_libs nav2_pause_bt_node)
+add_library(nav2_pause_resume_controller_bt_node SHARED plugins/control/pause_resume_controller.cpp)
+list(APPEND plugin_libs nav2_pause_resume_controller_bt_node)
 
 add_library(nav2_sequence_with_blackboard_memory_bt_node SHARED plugins/control/sequence_with_blackboard_memory.cpp)
 list(APPEND plugin_libs nav2_sequence_with_blackboard_memory_bt_node)

nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pause.hpp renamed to nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/pause_resume_controller.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Intel Corporation
+// Copyright (c) 2025 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -18,11 +18,14 @@
 // Other includes
 #include <string>
 #include <memory>
-#include <mutex>
+#include <map>
 
 // ROS includes
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp/callback_group.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 #include "behaviortree_cpp/control_node.h"
+#include "nav2_util/service_server.hpp"
 
 // Interface definitions
 #include "std_srvs/srv/trigger.hpp"
@@ -34,25 +37,49 @@ namespace nav2_behavior_tree
 using Trigger = std_srvs::srv::Trigger;
 
 enum state_t {UNPAUSED, PAUSED, PAUSE_REQUESTED, ON_PAUSE, RESUME_REQUESTED, ON_RESUME};
+const std::map<state_t, std::string> state_names = {
+  {UNPAUSED, "UNPAUSED"},
+  {PAUSED, "PAUSED"},
+  {PAUSE_REQUESTED, "PAUSE_REQUESTED"},
+  {ON_PAUSE, "ON_PAUSE"},
+  {RESUME_REQUESTED, "RESUME_REQUESTED"},
+  {ON_RESUME, "ON_RESUME"}
+};
+const std::map<state_t, uint> child_indices = {
+  {UNPAUSED, 0},
+  {PAUSED, 1},
+  {ON_PAUSE, 2},
+  {ON_RESUME, 3}
+};
 
 /* @brief Controlled through service calls to pause and resume the execution of the tree
  * It has one mandatory child for the UNPAUSED, and three optional for the PAUSED state,
  * the ON_PAUSE event and the ON_RESUME event.
  * It has two input ports:
  * - pause_service_name: name of the service to pause
  * - resume_service_name: name of the service to resume
+ *
+ * Usage:
+ * <Pause pause_service_name="/pause" resume_service_name="/resume">
+ *     <!-- UNPAUSED branch -->
+ *
+ *     <!-- PAUSED branch (optional) -->
+ *
+ *     <!-- ON_PAUSE branch (optional) -->
+ *
+ *     <!-- ON_RESUME branch (optional) -->
+ * </Pause>
  */
-class Pause : public BT::ControlNode
+
+
+class PauseResumeController : public BT::ControlNode
 {
 public:
   //! @brief Constructor
-  Pause(
+  PauseResumeController(
     const std::string & xml_tag_name,
     const BT::NodeConfiguration & conf);
 
-  //! @brief Destructor
-  ~Pause();
-
   //! @brief Reset state and go to Idle
   void halt() override;
 
@@ -74,23 +101,27 @@ class Pause : public BT::ControlNode
 
 private:
   //! @brief Service callback to pause
-  void pause_service_callback(
+  void pauseServiceCallback(
+    const std::shared_ptr<rmw_request_id_t>/*request_header*/,
     const std::shared_ptr<Trigger::Request> request,
     std::shared_ptr<Trigger::Response> response);
 
   //! @brief Service callback to resume
-  void resume_service_callback(
+  void resumeServiceCallback(
+    const std::shared_ptr<rmw_request_id_t>/*request_header*/,
     const std::shared_ptr<Trigger::Request> request,
     std::shared_ptr<Trigger::Response> response);
 
+  BT::NodeStatus tickChildAndTransition();
+
+  void switchState(const state_t new_state);
+
   rclcpp::Node::SharedPtr node_;
   rclcpp::CallbackGroup::SharedPtr cb_group_;
   rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
-  std::unique_ptr<std::thread> spinner_thread_;
-  rclcpp::Service<Trigger>::SharedPtr pause_srv_;
-  rclcpp::Service<Trigger>::SharedPtr resume_srv_;
+  nav2_util::ServiceServer<Trigger>::SharedPtr pause_srv_;
+  nav2_util::ServiceServer<Trigger>::SharedPtr resume_srv_;
   state_t state_;
-  std::mutex state_mutex_;
 };
 
 }  // namespace nav2_behavior_tree

nav2_behavior_tree/include/nav2_behavior_tree/plugins/control/sequence_with_blackboard_memory.hpp

@@ -1,4 +1,4 @@
-// Copyright (c) 2019 Intel Corporation
+// Copyright (c) 2025 Intel Corporation
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -44,8 +44,6 @@ class SequenceWithBlackboardMemoryNode : public BT::ControlNode
 
   ~SequenceWithBlackboardMemoryNode() override = default;
 
-  void halt() override;
-
   //! @brief Declare ports
   static BT::PortsList providedPorts()
   {

nav2_behavior_tree/nav2_tree_nodes.xml

@@ -390,7 +390,7 @@
 
     <Control ID="RoundRobin"/>
 
-    <Control ID="Pause">
+    <Control ID="PauseResumeController">
       <input_port name="pause_service_name">Service to call to pause</input_port>
       <input_port name="resume_service_name">Service to call to resume</input_port>
     </Control>