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Allow separate naming of client action server nodes in bt navigator #2410

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Merged
SteveMacenski merged 1 commit into from
Jun 21, 2021
Merged

Allow separate naming of client action server nodes in bt navigator #2410

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2 changes: 1 addition & 1 deletion nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,7 +85,7 @@ bool BtActionServer<ActionT>::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<rclcpp::Node>("_", options);
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