From 3d74e20c294857f912c5857e07f5ba59bd984e4e Mon Sep 17 00:00:00 2001
From: atb033 <ashwinbose123@gmail.com>
Date: Sat, 28 Mar 2020 16:51:24 +0100
Subject: [PATCH] Add server_name parameter to BtActionNode

A BT port is introduced in case the user wants to change the default action_name
of BtActionNode.
---
 .../include/nav2_behavior_tree/bt_action_node.hpp          | 7 ++++++-
 .../plugins/action/compute_path_to_pose_action.cpp         | 6 ------
 nav2_behavior_tree/plugins/action/follow_path_action.cpp   | 6 ------
 3 files changed, 6 insertions(+), 13 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 b08ff17334..c6e606bedb 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
@@ -41,6 +41,10 @@ class BtActionNode : public BT::ActionNodeBase
     goal_ = typename ActionT::Goal();
     result_ = typename rclcpp_action::ClientGoalHandle<ActionT>::WrappedResult();
 
+    std::string remapped_action_name;
+    if (getInput("server_name", remapped_action_name)) {
+      action_name_ = remapped_action_name;
+    }
     createActionClient(action_name_);
 
     // Give the derive class a chance to do any initialization
@@ -69,6 +73,7 @@ class BtActionNode : public BT::ActionNodeBase
   static BT::PortsList providedBasicPorts(BT::PortsList addition)
   {
     BT::PortsList basic = {
+      BT::InputPort<std::string>("server_name", "Action server name"),
       BT::InputPort<std::chrono::milliseconds>("server_timeout")
     };
     basic.insert(addition.begin(), addition.end());
@@ -233,7 +238,7 @@ class BtActionNode : public BT::ActionNodeBase
     }
   }
 
-  const std::string action_name_;
+  std::string action_name_;
   typename std::shared_ptr<rclcpp_action::Client<ActionT>> action_client_;
 
   // All ROS2 actions have a goal and a result
diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
index 1071e5d99f..be53df37fe 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -34,11 +34,6 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
     const BT::NodeConfiguration & conf)
   : BtActionNode<nav2_msgs::action::ComputePathToPose>(xml_tag_name, action_name, conf)
   {
-    std::string remapped_action_name;
-    if (getInput("server_name", remapped_action_name)) {
-      action_client_.reset();
-      createActionClient(remapped_action_name);
-    }
   }
 
   void on_tick() override
@@ -66,7 +61,6 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
         BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
         BT::InputPort<std::string>("planner_id", ""),
-        BT::InputPort<std::string>("server_name", "")
       });
   }
 
diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index d3cbbdafe8..820362912e 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -33,11 +33,6 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
     const BT::NodeConfiguration & conf)
   : BtActionNode<nav2_msgs::action::FollowPath>(xml_tag_name, action_name, conf)
   {
-    std::string remapped_action_name;
-    if (getInput("server_name", remapped_action_name)) {
-      action_client_.reset();
-      createActionClient(remapped_action_name);
-    }
     config().blackboard->set("path_updated", false);
   }
 
@@ -67,7 +62,6 @@ class FollowPathAction : public BtActionNode<nav2_msgs::action::FollowPath>
       {
         BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
         BT::InputPort<std::string>("controller_id", ""),
-        BT::InputPort<std::string>("server_name", "")
       });
   }
 };