From b064eb524ae55d706558466f27a20b3b58bc52e2 Mon Sep 17 00:00:00 2001
From: Alan Xue <alan.xuefei@googlemail.com>
Date: Sun, 25 Aug 2024 13:44:17 +0000
Subject: [PATCH] fix(bt_nodes): Correct default `server_timeout` behavior by
 using `getInputPortOrBlackboard()`

---
 .../include/nav2_behavior_tree/bt_action_node.hpp            | 5 ++---
 .../include/nav2_behavior_tree/bt_cancel_action_node.hpp     | 5 ++---
 .../include/nav2_behavior_tree/bt_service_node.hpp           | 5 ++---
 3 files changed, 6 insertions(+), 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
index 7276ef79ad2..b0a1efbb043 100644
--- 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
index b6458d881a9..a6538e1ac66 100644
--- 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
index 6608eee67a0..88b4bfdca50 100644
--- 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");