Fixing subtree issues with blackboard shared resources (3640) (backport #3911) (#3916)

* Fixing subtree issues with blackboard shared resources (3640) (#3911)

* fixing subtree issues

* Update bt_action_server_impl.hpp

(cherry picked from commit 4b4465d)

# Conflicts:
#	nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

* Update bt_action_server_impl.hpp

---------

Co-authored-by: Steve Macenski <[email protected]>

Author: mergify[bot]

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -186,6 +186,11 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
   // Create the Behavior Tree from the XML input
   try {
     tree_ = bt_->createTreeFromText(xml_string, blackboard_);
+    for (auto & blackboard : tree_.blackboard_stack) {
+      blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
+      blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
+      blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
+    }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
     return false;