Behavior Tree 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 using KeepRunningUntilFailure with an Inverter before and after it, as that functionality is more in line with the Behavior Tree ticking model.