Input port parsing issue in AreErrorCodesPresent BT node #4985
Description
Bug report
Required Info:
- Operating System:
- Ubuntu 22.04
- Computer:
- ROS2 Version:
- All
- Version or commit hash:
- DDS implementation:
Steps to reproduce issue
Add the node to a BT, set an error code in a BT variable, and try to use this node to compare the variable against the expected value.
Expected behavior
It returns BT::NodeStatus::SUCCESS.
Actual behavior
It returns BT::NodeStatus::FAILURE.
Reproduction instructions
Additional information
The AreErrorCodesPresent BT node has an input port called error_codes_to_check. This port is expecting a std::set<uint16_t>. However, BehaviorTree-CPP's getInput function is unable to parse and convert a string to std::set<uint16_t>. So, this line has no effect, meaning that the node is useless.
To make AreErrorCodesPresent work, I suggest to define the input port as a std::vector<int> which is supported by the getInput function. Once loaded, the vector can be converted to a std::set<uint16_t>.
In addition, the example provided in the documentation suggests that the provided error codes to check should be comma-separated. In BehaviorTree-CPP's convertFromString implementation, I can see no case where the comma (,) is used. Only the semicolon (;) is used as separator. So, the documentation is likely incorrect.