BehaviorTree Troubleshooting

Uncancellable Objective after using Repeat decorator with infinite num_attempts

Problem: I put a -1 in the num_attempts of the Repeat decorator and it deadlocked MoveIt Pro.

Solution: The Repeat and RetryUntilSuccessful decorator as explained in the repeats the child up to N times within one of its ticks. This means when set to the appropriate condition infinitely (Successful for RetryUntilSuccessful and Failure for Repeat), the objective server will get deadlocked. We recommend investigating KeepRunningUntilFailure with an Inverter for your use case instead as that functionality is more in line with the BehaviorTree ticking model.