From 88bde64405b9f78563176d6bc3cc698fb3ae1c64 Mon Sep 17 00:00:00 2001
From: Nicola Conti <nicola@sysdesign.it>
Date: Mon, 18 Sep 2023 11:31:06 +0200
Subject: [PATCH] Handle Goal is Lost STATE

---
 .github/workflows/ci.yml                  | 6 +++---
 .gitignore                                | 4 ++++
 include/behaviortree_ros/bt_action_node.h | 7 ++++++-
 3 files changed, 13 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 85bf417..e632d25 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,4 +1,4 @@
-name: "CI"
+name: "Continuous Integration"
 
 on:
   pull_request:
@@ -14,10 +14,10 @@ jobs:
         os: [ubuntu-20.04]
     steps:
       - name: "Setup ROS"
-        uses: ros-tooling/setup-ros@v0.5
+        uses: ros-tooling/setup-ros@v0.6
         with:
           required-ros-distributions: noetic
       - name: "Build & Test"
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros1-distro: noetic
diff --git a/.gitignore b/.gitignore
index 259148f..17431ff 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,7 @@
+## VS Code ##
+#############
+.vscode
+
 # Prerequisites
 *.d
 
diff --git a/include/behaviortree_ros/bt_action_node.h b/include/behaviortree_ros/bt_action_node.h
index a8c21bb..0e765d8 100644
--- a/include/behaviortree_ros/bt_action_node.h
+++ b/include/behaviortree_ros/bt_action_node.h
@@ -81,7 +81,8 @@ class RosActionNode : public BT::ActionNodeBase
   enum FailureCause{
     MISSING_SERVER = 0,
     ABORTED_BY_SERVER = 1,
-    REJECTED_BY_SERVER = 2
+    REJECTED_BY_SERVER = 2,
+    GOAL_IS_LOST = 3
   };
 
   /// Called when a service call failed. Can be overriden by the user.
@@ -155,6 +156,10 @@ class RosActionNode : public BT::ActionNodeBase
     {
       return onFailedRequest( REJECTED_BY_SERVER );
     }
+    else if( action_state == actionlib::SimpleClientGoalState::LOST)
+    {
+      return onFailedRequest( GOAL_IS_LOST );
+    }
     else
     {
       // FIXME: is there any other valid state we should consider?