Consistency in Groot 2 (ros-navigation#5078)

Signed-off-by: Alberto Tudela <[email protected]>
Signed-off-by: stevedanomodolor <[email protected]>

Author: ajtudela

nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp

@@ -89,9 +89,9 @@ class BehaviorTreeEngine
   /**
    * @brief Add Groot2 monitor to publish BT status changes
    * @param tree BT to monitor
-   * @param publisher_port Publisher port for the Groot2 monitor
+   * @param server_port Groot2 Server port, first of the pair (server_port, publisher_port)
    */
-  void addGrootMonitoring(BT::Tree * tree, uint16_t publisher_port);
+  void addGrootMonitoring(BT::Tree * tree, uint16_t server_port);
 
   /**
    * @brief Reset groot monitor

nav2_behavior_tree/src/behavior_tree_engine.cpp

@@ -104,10 +104,10 @@ BehaviorTreeEngine::createTreeFromFile(
 void
 BehaviorTreeEngine::addGrootMonitoring(
   BT::Tree * tree,
-  uint16_t publisher_port)
+  uint16_t server_port)
 {
   // This logger publish status changes using Groot2
-  groot_monitor_ = std::make_unique<BT::Groot2Publisher>(*tree, publisher_port);
+  groot_monitor_ = std::make_unique<BT::Groot2Publisher>(*tree, server_port);
 
   // Register common types JSON definitions
   BT::RegisterJsonDefinition<builtin_interfaces::msg::Time>();