fix TopicSubscriber

BehaviorTree · Apr 19, 2024 · bdb778a · bdb778a
1 parent 13682b4
commit bdb778a
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -296,14 +296,14 @@ template<class T> inline
  std::string topic_name;
  getInput("topic_name", topic_name);
 
- if(!sub_instance_)
+ if(!topic_name.empty() && topic_name != "__default__placeholder__" && topic_name != topic_name_)
  {
- createSubscriber(topic_name); 
+ sub_instance_.reset();
  }
- else if(topic_name_ != topic_name)
+
+ if(!sub_instance_)
  {
- sub_instance_.reset();
- createSubscriber(topic_name);
+ createSubscriber(topic_name); 
  }
 
  auto CheckStatus = [](NodeStatus status)