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fixing external users of the BT action node template #3792

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Merged
merged 2 commits into from
Sep 1, 2023
Merged

fixing external users of the BT action node template #3792

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fixing external users of the BT action node template
SteveMacenski Sep 1, 2023
377ad08
Update nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server…
SteveMacenski Sep 1, 2023
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8 changes: 7 additions & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,7 @@
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "nav2_behavior_tree/bt_action_server.hpp"
#include "ament_index_cpp/get_package_share_directory.hpp"
#include "nav2_util/node_utils.hpp"

namespace nav2_behavior_tree
{
Expand Down Expand Up @@ -122,7 +123,12 @@ bool BtActionServer<ActionT>::on_configure()
// Support for handling the topic-based goal pose from rviz
client_node_ = std::make_shared<rclcpp::Node>("_", options);

// Declare parameters for client node
// Declare parameters for client node to share with BT nodes
// Declare if not declared in case being used an external application
nav2_util::declare_parameter_if_not_declared(
node, "global_frame", rclcpp::ParameterValue(std::string("map")));
nav2_util::declare_parameter_if_not_declared(
node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
client_node_->declare_parameter(
"robot_base_frame", node->get_parameter("robot_base_frame").as_string());
client_node_->declare_parameter(
Expand Down