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[BtActionServer] default empty search_directories in constructor #5518

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Merged
merged 1 commit into from
Sep 10, 2025
Merged

[BtActionServer] default empty search_directories in constructor #5518

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4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -53,11 +53,11 @@ class BtActionServer
const std::string & action_name,
const std::vector<std::string> & plugin_lib_names,
const std::string & default_bt_xml_filename,
const std::vector<std::string> & search_directories,
OnGoalReceivedCallback on_goal_received_callback,
OnLoopCallback on_loop_callback,
OnPreemptCallback on_preempt_callback,
OnCompletionCallback on_completion_callback);
OnCompletionCallback on_completion_callback,
const std::vector<std::string> & search_directories = std::vector<std::string>{});

/**
* @brief A destructor for nav2_behavior_tree::BtActionServer class
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4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Expand Up @@ -39,11 +39,11 @@ BtActionServer<ActionT, NodeT>::BtActionServer(
const std::string & action_name,
const std::vector<std::string> & plugin_lib_names,
const std::string & default_bt_xml_filename,
const std::vector<std::string> & search_directories,
OnGoalReceivedCallback on_goal_received_callback,
OnLoopCallback on_loop_callback,
OnPreemptCallback on_preempt_callback,
OnCompletionCallback on_completion_callback)
OnCompletionCallback on_completion_callback,
const std::vector<std::string> & search_directories)
: action_name_(action_name),
default_bt_xml_filename_(default_bt_xml_filename),
search_directories_(search_directories),
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4 changes: 2 additions & 2 deletions nav2_core/include/nav2_core/behavior_tree_navigator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -214,13 +214,13 @@ class BehaviorTreeNavigator : public NavigatorBase
getName(),
plugin_lib_names,
default_bt_xml_filename,
search_directories,
std::bind(&BehaviorTreeNavigator::onGoalReceived, this, std::placeholders::_1),
std::bind(&BehaviorTreeNavigator::onLoop, this),
std::bind(&BehaviorTreeNavigator::onPreempt, this, std::placeholders::_1),
std::bind(
&BehaviorTreeNavigator::onCompletion, this,
std::placeholders::_1, std::placeholders::_2));
std::placeholders::_1, std::placeholders::_2),
search_directories);

bool ok = true;
if (!bt_action_server_->on_configure()) {
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