[simple_bt_builder] Question about action parallelization algorithm

[Rezenders]

Why does it only consider the at_start effects when checking if actions A and B are parallelizable? Shouldn't it also consider the at_end effects?

What if action A has some over_all requirements that are affected by action B's at_end effects and action B finishes first?

ros2_planning_system/plansys2_executor/src/plansys2_executor/bt_builder_plugins/simple_bt_builder.cpp

Lines 166 to 178 in b82cc6f

	// Apply the "at start" effects of the new action.
	auto preds = predicates;
	auto funcs = functions;
	if (action.action.is_durative_action()) {
	apply(action.action.get_at_start_effects(), preds, funcs);
	}
	// Check the requirements of the actions in the input set.
	for (const auto & other : nodes) {
	if (!is_action_executable(other->action, preds, funcs)) {
	return false;
	}
	}

[fmrico]

Probably we could explore also this, but I don't remember the reasons.