From 6cdaed8266b10964ca884ea3b2c6d6e35a084803 Mon Sep 17 00:00:00 2001
From: Adi Vardi <adi.vardi@enway.ai>
Date: Tue, 13 Jan 2026 12:13:13 +0100
Subject: [PATCH] use unique IDs for BTs

required by:
https://docs.nav2.org/migration/Kilted.html#add-behaviortree-subtrees-support
https://github.com/ros-navigation/navigation2/pull/5494
---
 .../behavior_trees/navigate_w_basic_complete_coverage.xml     | 4 ++--
 .../navigate_w_basic_complete_coverage_nav_to_start.xml       | 4 ++--
 .../behavior_trees/navigate_w_basic_row_complete_coverage.xml | 4 ++--
 opennav_coverage_navigator/src/coverage_navigator.cpp         | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml
index c7e4b357..5bd7a580 100644
--- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml
+++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage.xml
@@ -11,8 +11,8 @@
   This BT shows set polygon usage with the coverage server
 -->
 
-<root BTCPP_format="4" main_tree_to_execute="MainTree">
-  <BehaviorTree ID="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicCompleteCoverage">
+  <BehaviorTree ID="NavigateWBasicCompleteCoverage">
     <RateController hz="0.0000001"> <!-- once, for demo -->
       <Sequence name="NavigateWithoutReplanning">
         <!-- May use:
diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml
index 7990678b..fe4c8d75 100644
--- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml
+++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_complete_coverage_nav_to_start.xml
@@ -11,8 +11,8 @@
   This BT shows set polygon usage with the coverage server
 -->
 
-<root BTCPP_format="4" main_tree_to_execute="MainTree">
-  <BehaviorTree ID="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicCompleteCoverageNavToStart">
+  <BehaviorTree ID="NavigateWBasicCompleteCoverageNavToStart">
     <RateController hz="0.0000001"> <!-- once, for demo -->
       <Sequence name="NavigateWithoutReplanning">
         <!-- May use:
diff --git a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
index 7fe30afc..b9f95c0c 100644
--- a/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
+++ b/opennav_coverage_bt/behavior_trees/navigate_w_basic_row_complete_coverage.xml
@@ -11,8 +11,8 @@
   This BT shows field file usage with the row coverage server
 -->
 
-<root BTCPP_format="4" main_tree_to_execute="MainTree">
-  <BehaviorTree ID="MainTree">
+<root BTCPP_format="4" main_tree_to_execute="NavigateWBasicRowCompleteCoverage">
+  <BehaviorTree ID="NavigateWBasicRowCompleteCoverage">
     <RateController hz="0.0000001"> <!-- once, for demo -->
       <Sequence name="NavigateWithoutReplanning">
         <!-- May use:
diff --git a/opennav_coverage_navigator/src/coverage_navigator.cpp b/opennav_coverage_navigator/src/coverage_navigator.cpp
index cfdc41a6..d2e4f931 100644
--- a/opennav_coverage_navigator/src/coverage_navigator.cpp
+++ b/opennav_coverage_navigator/src/coverage_navigator.cpp
@@ -173,9 +173,9 @@ CoverageNavigator::onPreempt(ActionT::Goal::ConstSharedPtr goal)
 {
   RCLCPP_INFO(logger_, "Received goal preemption request");
 
-  if (goal->behavior_tree == bt_action_server_->getCurrentBTFilename() ||
+  if (goal->behavior_tree == bt_action_server_->getDefaultBTFilenameOrID() ||
     (goal->behavior_tree.empty() &&
-    bt_action_server_->getCurrentBTFilename() == bt_action_server_->getDefaultBTFilename()))
+    bt_action_server_->getDefaultBTFilenameOrID() == bt_action_server_->getDefaultBTFilenameOrID()))
   {
     // if pending goal requests the same BT as the current goal, accept the pending goal
     // if pending goal has an empty behavior_tree field, it requests the default BT file