fix samples

Author: facontidavide

sample_nodes/crossdoor_nodes.cpp

@@ -36,15 +36,13 @@ NodeStatus CrossDoor::openDoor()
 NodeStatus CrossDoor::pickLock()
 {
   SleepMS(500);
-  _pick_attempts++;
   // succeed at 3rd attempt
-  if (_door_locked && _pick_attempts < 3)
+  if (_pick_attempts++ > 3)
   {
     _door_locked = false;
     _door_open = true;
-    return NodeStatus::FAILURE;
   }
-  return NodeStatus::SUCCESS;
+  return _door_open ? NodeStatus::SUCCESS : NodeStatus::FAILURE;
 }
 
 NodeStatus CrossDoor::smashDoor()
@@ -72,3 +70,10 @@ void CrossDoor::registerNodes(BT::BehaviorTreeFactory &factory)
   factory.registerSimpleCondition(
       "SmashDoor", std::bind(&CrossDoor::smashDoor, this));
 }
+
+void CrossDoor::reset()
+{
+  _door_open   = false;
+  _door_locked = true;
+  _pick_attempts = 0;
+}

sample_nodes/crossdoor_nodes.h

@@ -7,6 +7,8 @@ class CrossDoor
 public:
     void registerNodes(BT::BehaviorTreeFactory& factory);
 
+    void reset();
+
     // SUCCESS if _door_open == true
     BT::NodeStatus isDoorClosed();
 

sample_nodes/movebase_node.h

@@ -1,5 +1,4 @@
-#ifndef MOVEBASE_BT_NODES_H
-#define MOVEBASE_BT_NODES_H
+#pragma once
 
 #include "behaviortree_cpp/behavior_tree.h"
 
@@ -69,4 +68,3 @@ class MoveBaseAction : public BT::StatefulActionNode
       chr::system_clock::time_point _completion_time;
 };
 
-#endif   // MOVEBASE_BT_NODES_H