Parse for async nodes based on node name

src/xml_parsing.cpp

@@ -541,16 +541,17 @@ void VerifyXML(const std::string& xml_text,
           ThrowError(line_number,
                      std::string("The node <") + name + "> must have 1 or more children");
         }
-        if (name == "ReactiveSequence")
+        if(name == "ReactiveSequence")
         {
           const std::string child_name = node->FirstChildElement()->Name();
           const auto child_search = registered_nodes.find(child_name);
           auto child_type = child_search->second;
-          // TODO: what this really needs to check is if the child is async
-          if (child_type != NodeType::CONDITION)
+          if(child_type == NodeType::CONTROL &&
+             ((child_name == "ThreadedAction") || (child_name == "StatefulActionNode") ||
+              (child_name == "CoroActionNode")))
           {
-            ThrowError(line_number,
-                      std::string("The first child of a ReactiveSequence cannot be asynchronous"));
+            ThrowError(line_number, std::string("The first child of a ReactiveSequence "
+                                                "cannot be asynchronous"));
           }
         }
       }