SetBlackboard crashing when used with a typed remapped port #653
Description
Version: 3.8.5
Custom node (the important part is that <bool> is used inside providedPorts()):
#include "behaviortree_cpp_v3/behavior_tree.h"
namespace bt_test
{
class Assert : public BT::SyncActionNode
{
public:
Assert(const std::string& name, const BT::NodeConfiguration& config)
: BT::SyncActionNode(name, config) {}
static BT::PortsList providedPorts() {
return {BT::InputPort<bool>("condition")};
}
private:
virtual BT::NodeStatus tick() override {
if (getInput<bool>("condition").value())
return BT::NodeStatus::SUCCESS;
else
return BT::NodeStatus::FAILURE;
}
};
} // end namespaceBT:
<?xml version='1.0'?>
<root main_tree_to_execute = "MainTree" xmlns:xacro="http://www.ros.org/wiki/xacro">
<BehaviorTree ID="MainTree">
<Sequence>
<SubTreePlus ID="Init" test="{test}" />
<Assert condition="{test}" />
</Sequence>
</BehaviorTree>
<BehaviorTree ID="Init">
<SetBlackboard output_key="test" value="true"/>
</BehaviorTree>
</root>Expected behavior:
SUCCESS
Actual behavior:
terminate called after throwing an instance of 'BT::LogicError'
what(): Blackboard: once declared, the type of a port shall not change. Previously declared type [bool] != new type [std::string]
Notes:
- Same happens with
<SubTree ID="Init" test="test" /> - The crash doesn't occur when
<SetBlackboard output_key="test" value="true"/>is used directly in the MainTree