From 4cc4e35ec9cd4990fb7a33659370b395b0ecd478 Mon Sep 17 00:00:00 2001 From: Guillaume Doisy Date: Tue, 9 Sep 2025 19:41:04 +0100 Subject: [PATCH] default empty constructor Signed-off-by: Guillaume Doisy --- .../include/nav2_behavior_tree/bt_action_server.hpp | 4 ++-- .../include/nav2_behavior_tree/bt_action_server_impl.hpp | 4 ++-- nav2_core/include/nav2_core/behavior_tree_navigator.hpp | 4 ++-- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp index 8e345abe0d7..924d1ebc28a 100644 --- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp +++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp @@ -53,11 +53,11 @@ class BtActionServer const std::string & action_name, const std::vector & plugin_lib_names, const std::string & default_bt_xml_filename, - const std::vector & search_directories, OnGoalReceivedCallback on_goal_received_callback, OnLoopCallback on_loop_callback, OnPreemptCallback on_preempt_callback, - OnCompletionCallback on_completion_callback); + OnCompletionCallback on_completion_callback, + const std::vector & search_directories = std::vector{}); /** * @brief A destructor for nav2_behavior_tree::BtActionServer class 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 b8fb983f91c..10a8289d5f4 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 @@ -39,11 +39,11 @@ BtActionServer::BtActionServer( const std::string & action_name, const std::vector & plugin_lib_names, const std::string & default_bt_xml_filename, - const std::vector & search_directories, OnGoalReceivedCallback on_goal_received_callback, OnLoopCallback on_loop_callback, OnPreemptCallback on_preempt_callback, - OnCompletionCallback on_completion_callback) + OnCompletionCallback on_completion_callback, + const std::vector & search_directories) : action_name_(action_name), default_bt_xml_filename_(default_bt_xml_filename), search_directories_(search_directories), diff --git a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp index 9e984bc6550..fdabbf28133 100644 --- a/nav2_core/include/nav2_core/behavior_tree_navigator.hpp +++ b/nav2_core/include/nav2_core/behavior_tree_navigator.hpp @@ -214,13 +214,13 @@ class BehaviorTreeNavigator : public NavigatorBase getName(), plugin_lib_names, default_bt_xml_filename, - search_directories, std::bind(&BehaviorTreeNavigator::onGoalReceived, this, std::placeholders::_1), std::bind(&BehaviorTreeNavigator::onLoop, this), std::bind(&BehaviorTreeNavigator::onPreempt, this, std::placeholders::_1), std::bind( &BehaviorTreeNavigator::onCompletion, this, - std::placeholders::_1, std::placeholders::_2)); + std::placeholders::_1, std::placeholders::_2), + search_directories); bool ok = true; if (!bt_action_server_->on_configure()) {