nav2_behavior_tree: fix input port parsing error in AreErrorCodesPresent (ros-navigation#4986)

The getInput method does not support std::set<uint16_t> parsing. So,
let's replace the type of the input port by std::vector<int> which is
supported, and convert the list to a std::set<uint16_t>.

This commit fixes issue ros-navigation#4985.

Signed-off-by: Dylan De Coeyer <[email protected]>
Signed-off-by: Sakshay Mahna <[email protected]>

Author: DylanDeCoeyer-Quimesis

nav2_behavior_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp

@@ -34,7 +34,12 @@ class AreErrorCodesPresent : public BT::ConditionNode
     const BT::NodeConfiguration & conf)
   : BT::ConditionNode(condition_name, conf)
   {
-    getInput<std::set<uint16_t>>("error_codes_to_check", error_codes_to_check_); //NOLINT
+    std::vector<int> error_codes_to_check_vector;
+    getInput("error_codes_to_check", error_codes_to_check_vector); //NOLINT
+
+    error_codes_to_check_ = std::set<uint16_t>(
+      error_codes_to_check_vector.begin(),
+      error_codes_to_check_vector.end());
   }
 
   AreErrorCodesPresent() = delete;
@@ -55,7 +60,7 @@ class AreErrorCodesPresent : public BT::ConditionNode
     return
       {
         BT::InputPort<uint16_t>("error_code", "The active error codes"), //NOLINT
-        BT::InputPort<std::set<uint16_t>>("error_codes_to_check", "Error codes to check")//NOLINT
+        BT::InputPort<std::vector<int>>("error_codes_to_check", "Error codes to check")//NOLINT
       };
   }
 

nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp

@@ -28,7 +28,7 @@ class AreErrorCodesPresentFixture : public nav2_behavior_tree::BehaviorTreeTestF
   void SetUp()
   {
     uint16_t error_code = ActionResult::NONE;
-    std::set<uint16_t> error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT
+    std::vector<int> error_codes_to_check = {ActionResult::UNKNOWN}; //NOLINT
     config_->blackboard->set("error_code", error_code);
     config_->blackboard->set("error_codes_to_check", error_codes_to_check);