Fix: Finish Finally cleanup when halted

[dv-picknik]

[written by AI]

Refs PickNikRobotics/moveit_pro#20169

On halt, Finally (from #36) ticked cleanup once and halted it if it was still RUNNING. That works only for synchronous cleanup. In MoveIt Pro every Behavior that changes the planning scene is asynchronous: SetCollisionRule, AttachObject, DetachObject and the collision-object Behaviors all derive from AsyncBehaviorBase, whose onStart() always returns RUNNING. So when an Objective was stopped, only the first cleanup Behavior started. In the issue's own example, a Sequence that re-enables two collision rules, the second rule never ran, and the collision matrix stayed half-reset with nothing reported.

Now, when the node is halted while main or cleanup is RUNNING, it halts main and keeps ticking cleanup every 10 ms until cleanup finishes, fails or throws, or until the new halt_timeout_msec port runs out. The port defaults to 10000 ms, after which cleanup is halted unfinished and the node prints that to stderr. An unreadable port value, such as a remap to a missing blackboard entry, falls back to the default.

Two other changes:

• An exception thrown by cleanup in tick() now halts and resets both children, leaves the node IDLE, and propagates, as an exception from a finally block does. Before, the node stayed RUNNING, so the halt that ~Tree() runs would have retried cleanup.
• A halt that arrives while cleanup is already RUNNING now lets it finish instead of halting it partway.

The cost is that halt() blocks its caller for as long as cleanup takes, up to the timeout. MoveIt Pro's ObjectiveServer::runTree halts on the tick thread while holding change_tree_state_mutex_, so a Stop waits for cleanup. I kept the default long, because a cleanup cut short leaves the state this node exists to restore, while a slow Stop is visible and bounded.

Tests: 6 new or reworked FinallyTest cases. They cover async cleanup finishing on halt, every step of a Sequence cleanup running, a cleanup that never finishes being halted at the timeout, cleanup failing or throwing after RUNNING during a halt, the unreadable-timeout fallback, and a stateful main restarting after cleanup throws. The four halt tests fail against the old one-tick code, and the restart test fails without the child reset. behaviortree_cpp_picknik_test passes all 567 tests locally (GCC, Release), and the timing tests passed 30 repeated runs. picknik:code-reviewer and the CodeRabbit CLI ran and their findings are applied.

The same change goes to the upstream PR, BehaviorTree#1229.

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• include/behaviortree_cpp/controls/finally_node.h
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• include/behaviortree_cpp/controls/finally_node.h

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📝 Summary

Summary by CodeRabbit

• New Features
  • Cleanup now continues ticking when a running action is halted, including multi-step cleanup, until it finishes or reaches a configurable timeout. The timeout defaults to 10 seconds.
• Bug Fixes
  • Cleanup failures and exceptions during halting no longer prevent the action from being halted and reset.
  • Invalid timeout settings fall back to the default. Cleanup exceptions during normal execution reset the action before being reported, allowing a subsequent run to start fresh.

Walkthrough

FinallyNode now exposes a configurable timeout for cleanup during halt and continues ticking cleanup until it stops or the timeout expires. If cleanup throws during tick, FinallyNode halts both children, resets node state, and rethrows the exception.

Changes

FinallyNode cleanup

Layer / File(s)	Summary
Timeout-configured cleanup during halt include/behaviortree_cpp/controls/finally_node.h, src/controls/finally_node.cpp, tests/gtest_finally.cpp	FinallyNode exposes halt_timeout_msec, defaulting to 10,000 ms. During halt, it repeatedly ticks cleanup until it stops or the timeout expires. Tests cover asynchronous cleanup, failures, exceptions, and timeout handling.
Cleanup exceptions during tick src/controls/finally_node.cpp, tests/gtest_finally.cpp	If cleanup throws during tick, FinallyNode halts both children, clears cleanup and saved-exception state, resets its status, and rethrows the cleanup exception. Tests verify that a later tick starts the main child again.

Priority: ⬇️ Low

Merge Risk: 🟡 Moderate · up to d17c8

An edge-case cleanup poll can start after its configured timeout and block the caller beyond the documented limit. Correct the deadline check before merging.

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❌ Failed checks (1 error)

Check name	Status	Explanation	Resolution
Human Review Check	❌ Error	The PR adds the public halt_timeout_msec input port to FinallyNode::providedPorts() in an installed library header. This expands the public BehaviorTree configuration API, which meets the check’s …	This PR requires review by a requested human reviewer. After review, a non-author requested reviewer should override this pre-merge check.

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description explains the problem, the behavior change, the timeout and fallback, the blocking impact, and the tests and results. It addresses the template’s guidance about behavioral changes and b…
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

Full details: Human Review Check

Explanation

The PR adds the public halt_timeout_msec input port to FinallyNode::providedPorts() in an installed library header. This expands the public BehaviorTree configuration API, which meets the check’s public API change condition.

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Actionable comments posted: 1

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Inline comments:
Review comments at @src/controls/finally_node.cpp:
- Line 93: Update the cleanup loop around children_nodes_[1]->executeTick() to
check the deadline after each sleep and before starting another tick; preserve
the guaranteed first cleanup tick, but do not start any subsequent tick at or
after the deadline.

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