Behaviortree build errors

[MurMa]

We are trying to build the project for testing and are having some problems with behaviortree.

First, we had errors with "setStatus" and "root_node" which we solved by manually installing the branch "ros2_devel" of behaviortree_cpp_v3 (https://github.com/BehaviorTree/BehaviorTree.CPP/tree/ros2-devel). It seems like the changes which are on the master branch today are not backwards compatible.

Now, we got another error: We are trying to build the project by executing colcon build in the kmriiwa_ws folder.
Any help is appreciated!

This is the error message:

...
Starting >>> moveit_core
--- stderr: kmr_behaviortree
CMakeFiles/behavior_tree_node.dir/src/behavior_tree_node.cpp.o: In function `std::_Function_handler<void (BT::TreeNode*), kmr_behavior_tree::BehaviorTreeEngine::haltAllActions(BT::TreeNode*)::{lambda(BT::TreeNode*)#1}>::_M_invoke(std::_Any_data const&, BT::TreeNode*&&)':
behavior_tree_node.cpp:(.text._ZNSt17_Function_handlerIFvPN2BT8TreeNodeEEZN17kmr_behavior_tree18BehaviorTreeEngine14haltAllActionsES2_EUlS2_E_E9_M_invokeERKSt9_Any_dataOS2_[_ZNSt17_Function_handlerIFvPN2BT8TreeNodeEEZN17kmr_behavior_tree18BehaviorTreeEngine14haltAllActionsES2_EUlS2_E_E9_M_invokeERKSt9_Any_dataOS2_]+0xb): undefined reference to `typeinfo for BT::CoroActionNode'
collect2: error: ld returned 1 exit status
make[2]: *** [behavior_tree_node] Error 1
make[1]: *** [CMakeFiles/behavior_tree_node.dir/all] Error 2
make: *** [all] Error 2
---
Failed   <<< kmr_behaviortree [5.10s, exited with code 2]
Aborted  <<< moveit_core [3.62s]

Summary: 23 packages finished [14.1s]
  1 package failed: kmr_behaviortree
  1 package aborted: moveit_core
  2 packages had stderr output: kmr_behaviortree moveit_core
  11 packages not processed

[MurMa]

We "solved" this problem by commenting three lines of code in the file kmriiwa_ws/kmr_behaviortree/include/kmr_behaviortree/behavior_tree_engine.hpp. It seems like navigation2 is running fine without it.

[MortenMDahl]

@MurMa

Could I ask which lines you commented out? Thanks!

[MurMa]

We had to comment out lines 47-49:

if (auto action = dynamic_cast<BT::CoroActionNode *>(node)) {
    action->halt();
}

The error we got had to do with the dynamic cast.

[liushuya7]

Reference Issue#1686: Migrate from deprecated BehaviorTree.CPP APIs
ros-navigation/navigation2#1686