Revert "[BtActionNode] [BtServiceNode] clear between calls (ros-navigation#4887)"

This reverts commit a33909b.

Author: jplapp

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -199,10 +199,6 @@ class BtActionNode : public BT::ActionNodeBase
       // reset the flag to send the goal or not, allowing the user the option to set it in on_tick
       should_send_goal_ = true;
 
-      // Clear the input and output messages to make sure we have no leftover from previous calls
-      goal_ = typename ActionT::Goal();
-      result_ = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult();
-
       // user defined callback, may modify "should_send_goal_".
       on_tick();
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -141,9 +141,6 @@ class BtServiceNode : public BT::ActionNodeBase
       should_send_request_ = true;
       should_fail_not_sent_request_ = true;
 
-      // Clear the input request to make sure we have no leftover from previous calls
-      request_ = std::make_shared<typename ServiceT::Request>();
-
       // user defined callback, may modify "should_send_request_".
       on_tick();