fix(bt_nodes): Correct default server_timeout behavior by using `ge…

…tInputPortOrBlackboard()`
ros-navigation · Aug 25, 2024 · b064eb5 · b064eb5
1 parent c38fefd
commit b064eb5
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Showing 3 changed files with 6 additions and 9 deletions.
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp
@@ -58,9 +58,8 @@ class BtActionNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+    server_timeout_ = BT::getInputPortOrBlackboard<std::chrono::milliseconds>(
+      "server_timeout", config().blackboard->template get<std::chrono::milliseconds>("server_timeout"), config().blackboard);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_cancel_action_node.hpp
@@ -56,9 +56,8 @@ class BtCancelActionNode : public BT::ActionNodeBase
     callback_group_executor_.add_callback_group(callback_group_, node_->get_node_base_interface());
 
     // Get the required items from the blackboard
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+     server_timeout_ = BT::getInputPortOrBlackboard<std::chrono::milliseconds>(
+      "server_timeout", config().blackboard->template get<std::chrono::milliseconds>("server_timeout"), config().blackboard);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");
 

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp
@@ -59,9 +59,8 @@ class BtServiceNode : public BT::ActionNodeBase
     // Get the required items from the blackboard
     auto bt_loop_duration =
       config().blackboard->template get<std::chrono::milliseconds>("bt_loop_duration");
-    server_timeout_ =
-      config().blackboard->template get<std::chrono::milliseconds>("server_timeout");
-    getInput<std::chrono::milliseconds>("server_timeout", server_timeout_);
+     server_timeout_ = BT::getInputPortOrBlackboard<std::chrono::milliseconds>(
+      "server_timeout", config().blackboard->template get<std::chrono::milliseconds>("server_timeout"), config().blackboard);
     wait_for_service_timeout_ =
       config().blackboard->template get<std::chrono::milliseconds>("wait_for_service_timeout");