Fixing subtree issues with blackboard shared resources (3640) (backport

ros-navigation#3911) (ros-navigation#3916) * Fixing subtree issues with blackboard shared resources (3640) (ros-navigation#3911) * fixing subtree issues * Update bt_action_server_impl.hpp (cherry picked from commit 4b4465d) # Conflicts: # nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp * Update bt_action_server_impl.hpp --------- Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
EnjoyRobotics · Nov 20, 2023 · 6baddd1 · 6baddd1
1 parent 8679fc6
commit 6baddd1
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -221,6 +221,11 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
   // Create the Behavior Tree from the XML input
   try {
     tree_ = bt_->createTreeFromText(xml_string, blackboard_);
+    for (auto & blackboard : tree_.blackboard_stack) {
+      blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
+      blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
+      blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
+    }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
     return false;