Resolve first msg lost issue on sub

Devis Dal Moro · Devis Dal Moro · commit 6e03cf857040 · 2025-10-24T11:41:03.000+02:00
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -181,6 +181,7 @@ inline RosTopicSubNode<T>::SubscriberInstance::SubscriberInstance(
     broadcaster(msg);
   };
   subscriber = node->create_subscription<T>(topic_name, 1, callback, option);
+  callback_group_executor.spin_some(std::chrono::milliseconds(0));
 }
 
 template <class T>
diff --git a/behaviortree_ros2/include/behaviortree_ros2/serialized_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/serialized_sub_node.hpp
@@ -32,7 +32,7 @@ namespace BT
         
         bool latchLastMessage() const override
         {
-            return consume_msgs_;
+            return !consume_msgs_;
         }
         void fetchSubscriberValues()
         {

Original file line number	Diff line number	Diff line change
`@@ -181,6 +181,7 @@ inline RosTopicSubNode<T>::SubscriberInstance::SubscriberInstance(`
`181`	`181`	`broadcaster(msg);`
`182`	`182`	`};`
`183`	`183`	`subscriber = node->create_subscription<T>(topic_name, 1, callback, option);`
	`184`	`+ callback_group_executor.spin_some(std::chrono::milliseconds(0));`
`184`	`185`	`}`
`185`	`186`
`186`	`187`	`template <class T>`
Original file line number	Diff line number	Diff line change
`@@ -32,7 +32,7 @@ namespace BT`
`32`	`32`
`33`	`33`	`bool latchLastMessage() const override`
`34`	`34`	`{`
`35`		`- return consume_msgs_;`
	`35`	`+ return !consume_msgs_;`
`36`	`36`	`}`
`37`	`37`	`void fetchSubscriberValues()`
`38`	`38`	`{`