[retry_node] Refresh max_attempts_ in case it changed (#905)

Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
BehaviorTree · Jan 10, 2025 · 17a9c35 · 17a9c35
1 parent 6c958bd
commit 17a9c35
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
@@ -67,6 +67,8 @@ NodeStatus RetryNode::tick()
 
       case NodeStatus::FAILURE: {
         try_count_++;
+        // Refresh max_attempts_ in case it changed in one of the child nodes
+        getInput(NUM_ATTEMPTS, max_attempts_);
         do_loop = try_count_ < max_attempts_ || max_attempts_ == -1;
 
         resetChild();