Why are the BehaviorTree.ROS2 action and service nodes base actions rather than stateful actions?

[gsalinas]

Hi all,

As I'm getting started using BehaviorTree.CPP and BehaviorTree.ROS2 on my project, I'm trying to understand something about the design:

According to the docs (here, & here for example), a StatefulActionNode is the recommended way of implementing actions with a request-reply pattern. Given that, is there a particular reason that RosActionNode and RosServiceNode are implemented as ActionNodeBase classes instead of as StatefulActionNode classes?

Thank you very much for the help!