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nav2_behavior_tree: fix input port parsing error in AreErrorCodesPresent #4986

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Merged
merged 1 commit into from
Mar 17, 2025
Merged

nav2_behavior_tree: fix input port parsing error in AreErrorCodesPresent #4986

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9 changes: 7 additions & 2 deletions ...r_tree/include/nav2_behavior_tree/plugins/condition/are_error_codes_present_condition.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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
};
}

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2 changes: 1 addition & 1 deletion nav2_behavior_tree/test/plugins/condition/test_are_error_codes_present.cpp
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Expand Up @@ -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);

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