[behavior_tree] don't repeat yourself in "blackboard->set" (ros-navig…

…ation#4074) * don't repeat yourself: templates in tests Signed-off-by: Davide Faconti <davide.faconti@gmail.com> * misse change Signed-off-by: Davide Faconti <davide.faconti@gmail.com> --------- Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
Marc-Morcos · Jul 4, 2024 · b13fca5 · b13fca5
1 parent 53713a5
commit b13fca5
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Showing 41 changed files with 100 additions and 100 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
@@ -251,7 +251,7 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
   try {
     tree_ = bt_->createTreeFromFile(filename, blackboard_);
     for (auto & blackboard : tree_.blackboard_stack) {
-      blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
+      blackboard->set("node", client_node_);
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
       blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
       blackboard->set<std::chrono::milliseconds>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_action.cpp
@@ -59,7 +59,7 @@ class AssistedTeleopActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -71,8 +71,8 @@ class AssistedTeleopActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<int>("number_recoveries", 0);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("number_recoveries", 0);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)

diff --git a/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_assisted_teleop_cancel_node.cpp
@@ -56,7 +56,7 @@ class CancelAssistedTeleopActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_action.cpp
@@ -59,7 +59,7 @@ class BackUpActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -71,8 +71,8 @@ class BackUpActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<int>("number_recoveries", 0);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("number_recoveries", 0);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)

diff --git a/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_back_up_cancel_node.cpp
@@ -55,7 +55,7 @@ class CancelBackUpActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp b/nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp
@@ -140,14 +140,14 @@ class FibonacciAction : public nav2_behavior_tree::BtActionNode<test_msgs::actio
 
   BT::NodeStatus on_success() override
   {
-    config().blackboard->set<std::vector<int>>("sequence", result_.result->sequence);
+    config().blackboard->set("sequence", result_.result->sequence);
     return BT::NodeStatus::SUCCESS;
   }
 
   BT::NodeStatus on_cancelled() override
   {
-    config().blackboard->set<std::vector<int>>("sequence", result_.result->sequence);
-    config().blackboard->set<bool>("on_cancelled_triggered", true);
+    config().blackboard->set("sequence", result_.result->sequence);
+    config().blackboard->set("on_cancelled_triggered", true);
     return BT::NodeStatus::SUCCESS;
   }
 
@@ -170,12 +170,12 @@ class BTActionNodeTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
+    config_->blackboard->set("node", node_);
     config_->blackboard->set<std::chrono::milliseconds>("server_timeout", 20ms);
     config_->blackboard->set<std::chrono::milliseconds>("bt_loop_duration", 10ms);
     config_->blackboard->set<std::chrono::milliseconds>("wait_for_service_timeout", 1000ms);
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<bool>("on_cancelled_triggered", false);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("on_cancelled_triggered", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)
@@ -303,7 +303,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_success)
   // reset state variables
   ticks = 0;
   result = BT::NodeStatus::RUNNING;
-  config_->blackboard->set<bool>("on_cancelled_triggered", false);
+  config_->blackboard->set("on_cancelled_triggered", false);
 
   // main BT execution loop
   while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
@@ -384,7 +384,7 @@ TEST_F(BTActionNodeTestFixture, test_server_timeout_failure)
   // reset state variables
   ticks = 0;
   result = BT::NodeStatus::RUNNING;
-  config_->blackboard->set<bool>("on_cancelled_triggered", false);
+  config_->blackboard->set("on_cancelled_triggered", false);
 
   // main BT execution loop
   while (rclcpp::ok() && result == BT::NodeStatus::RUNNING) {
@@ -458,7 +458,7 @@ TEST_F(BTActionNodeTestFixture, test_server_cancel)
 
   // reset state variable
   ticks = 0;
-  config_->blackboard->set<bool>("on_cancelled_triggered", false);
+  config_->blackboard->set("on_cancelled_triggered", false);
   result = BT::NodeStatus::RUNNING;
 
   // main BT execution loop

diff --git a/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp b/nav2_behavior_tree/test/plugins/action/test_clear_costmap_service.cpp
@@ -44,7 +44,7 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -56,8 +56,8 @@ class ClearEntireCostmapServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<int>("number_recoveries", 0);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("number_recoveries", 0);
 
     factory_->registerNodeType<nav2_behavior_tree::ClearEntireCostmapService>("ClearEntireCostmap");
   }
@@ -133,7 +133,7 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -145,8 +145,8 @@ class ClearCostmapExceptRegionServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<int>("number_recoveries", 0);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("number_recoveries", 0);
 
     factory_->registerNodeType<nav2_behavior_tree::ClearCostmapExceptRegionService>(
       "ClearCostmapExceptRegion");
@@ -228,7 +228,7 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -240,8 +240,8 @@ class ClearCostmapAroundRobotServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
-    config_->blackboard->set<int>("number_recoveries", 0);
+    config_->blackboard->set("initial_pose_received", false);
+    config_->blackboard->set("number_recoveries", 0);
 
     factory_->registerNodeType<nav2_behavior_tree::ClearCostmapAroundRobotService>(
       "ClearCostmapAroundRobot");

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_through_poses_action.cpp
@@ -67,7 +67,7 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -79,7 +79,7 @@ class ComputePathThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)

diff --git a/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_compute_path_to_pose_action.cpp
@@ -65,7 +65,7 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -77,7 +77,7 @@ class ComputePathToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)

diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_cancel_node.cpp
@@ -55,7 +55,7 @@ class CancelControllerActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_controller_selector_node.cpp
@@ -38,7 +38,7 @@ class ControllerSelectorTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
+    config_->blackboard->set("node", node_);
 
     BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
         return std::make_unique<nav2_behavior_tree::ControllerSelector>(name, config);

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_action.cpp
@@ -60,7 +60,7 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -72,7 +72,7 @@ class DriveOnHeadingActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)

diff --git a/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp b/nav2_behavior_tree/test/plugins/action/test_drive_on_heading_cancel_node.cpp
@@ -56,7 +56,7 @@ class CancelDriveOnHeadingTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(

diff --git a/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_follow_path_action.cpp
@@ -58,7 +58,7 @@ class FollowPathActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -70,7 +70,7 @@ class FollowPathActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)
@@ -130,7 +130,7 @@ TEST_F(FollowPathActionTestFixture, test_tick)
   nav_msgs::msg::Path path;
   path.poses.resize(1);
   path.poses[0].pose.position.x = 1.0;
-  config_->blackboard->set<nav_msgs::msg::Path>("path", path);
+  config_->blackboard->set("path", path);
 
   // tick until node succeeds
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
@@ -150,7 +150,7 @@ TEST_F(FollowPathActionTestFixture, test_tick)
 
   // set new goal
   path.poses[0].pose.position.x = -2.5;
-  config_->blackboard->set<nav_msgs::msg::Path>("path", path);
+  config_->blackboard->set("path", path);
 
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();

diff --git a/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_goal_checker_selector_node.cpp
@@ -38,7 +38,7 @@ class GoalCheckerSelectorTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
+    config_->blackboard->set("node", node_);
 
     BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
         return std::make_unique<nav2_behavior_tree::GoalCheckerSelector>(name, config);

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_through_poses_action.cpp
@@ -61,7 +61,7 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -73,9 +73,9 @@ class NavigateThroughPosesActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
     std::vector<geometry_msgs::msg::PoseStamped> poses;
-    config_->blackboard->set<std::vector<geometry_msgs::msg::PoseStamped>>(
+    config_->blackboard->set(
       "goals", poses);
 
     BT::NodeBuilder builder =
@@ -136,7 +136,7 @@ TEST_F(NavigateThroughPosesActionTestFixture, test_tick)
   poses.resize(1);
   poses[0].pose.position.x = -2.5;
   poses[0].pose.orientation.x = 1.0;
-  config_->blackboard->set<std::vector<geometry_msgs::msg::PoseStamped>>("goals", poses);
+  config_->blackboard->set("goals", poses);
 
   // tick until node succeeds
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {

diff --git a/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp b/nav2_behavior_tree/test/plugins/action/test_navigate_to_pose_action.cpp
@@ -59,7 +59,7 @@ class NavigateToPoseActionTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -71,7 +71,7 @@ class NavigateToPoseActionTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     BT::NodeBuilder builder =
       [](const std::string & name, const BT::NodeConfiguration & config)
@@ -145,7 +145,7 @@ TEST_F(NavigateToPoseActionTestFixture, test_tick)
   // set new goal
   pose.pose.position.x = -2.5;
   pose.pose.orientation.x = 1.0;
-  config_->blackboard->set<geometry_msgs::msg::PoseStamped>("goal", pose);
+  config_->blackboard->set("goal", pose);
 
   while (tree_->rootNode()->status() != BT::NodeStatus::SUCCESS) {
     tree_->rootNode()->executeTick();

diff --git a/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp b/nav2_behavior_tree/test/plugins/action/test_planner_selector_node.cpp
@@ -38,7 +38,7 @@ class PlannerSelectorTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>("node", node_);
+    config_->blackboard->set("node", node_);
 
     BT::NodeBuilder builder = [](const std::string & name, const BT::NodeConfiguration & config) {
         return std::make_unique<nav2_behavior_tree::PlannerSelector>(name, config);

diff --git a/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp b/nav2_behavior_tree/test/plugins/action/test_reinitialize_global_localization_service.cpp
@@ -44,7 +44,7 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test
     // Create the blackboard that will be shared by all of the nodes in the tree
     config_->blackboard = BT::Blackboard::create();
     // Put items on the blackboard
-    config_->blackboard->set<rclcpp::Node::SharedPtr>(
+    config_->blackboard->set(
       "node",
       node_);
     config_->blackboard->set<std::chrono::milliseconds>(
@@ -56,7 +56,7 @@ class ReinitializeGlobalLocalizationServiceTestFixture : public ::testing::Test
     config_->blackboard->set<std::chrono::milliseconds>(
       "wait_for_service_timeout",
       std::chrono::milliseconds(1000));
-    config_->blackboard->set<bool>("initial_pose_received", false);
+    config_->blackboard->set("initial_pose_received", false);
 
     factory_->registerNodeType<nav2_behavior_tree::ReinitializeGlobalLocalizationService>(
       "ReinitializeGlobalLocalization");