From a5549f29c031ae63f6cc3033855a977b0840de26 Mon Sep 17 00:00:00 2001 From: Jonatan Olofsson Date: Wed, 16 Jun 2021 01:22:00 +0200 Subject: [PATCH] Name bt_navigator action nodes uniquely --- .../include/nav2_behavior_tree/bt_action_server_impl.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp index 8a0faaa93b8..63be7034428 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp @@ -85,7 +85,7 @@ bool BtActionServer::on_configure() // use suffix '_rclcpp_node' to keep parameter file consistency #1773 auto options = rclcpp::NodeOptions().arguments( {"--ros-args", - "-r", std::string("__node:=") + node->get_name() + "_rclcpp_node", + "-r", std::string("__node:=") + std::string(node->get_name()) + action_name_ + "_rclcpp_node", "--"}); // Support for handling the topic-based goal pose from rviz client_node_ = std::make_shared("_", options);