Fix error parsing subtree when loading from file path by mini-1235 · Pull Request #5950 · ros-navigation/navigation2

mini-1235 · 2026-02-11T12:40:28Z

Basic Info

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Ticket(s) this addresses	Fixes #5923
Primary OS tested on	Ubuntu
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

Future work that may be required in bullet points

For Maintainers:

Check that any new parameters added are updated in docs.nav2.org
Check that any significant change is added to the migration guide
Check that any new features OR changes to existing behaviors are reflected in the tuning guide
Check that any new functions have Doxygen added
Check that any new features have test coverage
Check that any new plugins is added to the plugins page
If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
Should this be backported to current distributions? If so, tag with backport-*.

…5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-02-11T12:47:45Z

This PR reverts #5938 and #5594.

I believe the correct logic should be:

When file path is provided, we should call createTreeFromFile directly, which matches the behavior prior to Support loading multiple behavior tree files as subtrees #5426
When ID is provided, we loop through the search_directory, register the trees, and then create the tree using the specified ID

adivardi · 2026-02-11T14:21:02Z

Thanks @mini-1235

Tested:

With all BTs having unique IDs
- requesting both filepath & ID work, with subTree both before and after the main tree
With some duplicated IDs
- requesting filepath work
- requesting ID: Actually also work, but I am getting the confusing warning again Duplicate BT IDs found. Make sure all BT IDs are unique! ID: MainTree File:...
  - maybe that's intended? I don't have multiple BTs for the same action to test though, only multiple ones for different navigators.

mini-1235 · 2026-02-11T14:41:44Z

requesting ID: Actually also work, but I am getting the confusing warning again Duplicate BT IDs found. Make sure all BT IDs are unique! ID: MainTree File:...

maybe that's intended? I don't have multiple BTs for the same action to test though, only multiple ones for different navigators.

Yeah, I think this is expected since it can be confusing which BT is being referenced if there are duplicate ids and the tree is requested by id. In that case, I would expect the user to see this warning and update their BTs accordingly. But I am open to suggestions on how to make this clearer, perhaps doing something similar to what was proposed in #5938?

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-02-11T14:45:56Z

The other failing test seems to be related to 797a171

adivardi · 2026-02-11T14:46:31Z

Yeah, I think this is expected since it can be confusing which BT is being referenced if there are duplicate ids and the tree is requested by id. In that case, I would expect the user to see this warning and update their BTs accordingly. But I am open to suggestions on how to make this clearer, perhaps doing something similar to what was proposed in #5938?

I think that would be nice. Thought it is already better since it doesn't have the skipping BT file while not actually skipping anything 🤭

SteveMacenski

Seems like this may drop a feature or two accidentally

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

codecov · 2026-02-13T14:48:19Z

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...nclude/nav2_behavior_tree/behavior_tree_engine.hpp	`100.00% <100.00%> (ø)`
...ee/include/nav2_behavior_tree/bt_action_server.hpp	`83.33% <ø> (ø)`
...clude/nav2_behavior_tree/bt_action_server_impl.hpp	`87.98% <100.00%> (+0.29%)`	⬆️
nav2_behavior_tree/src/behavior_tree_engine.cpp	`89.28% <100.00%> (+0.39%)`	⬆️

... and 5 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

SteveMacenski

Generally LGTM as long as it does what we need functionally!

SteveMacenski · 2026-02-16T22:59:16Z

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

-          auto id = bt_->extractBehaviorTreeID(entry.path().string());
-          if (id.empty()) {
+          auto tree_info = bt_->parseTreeInfo(entry.path().string());
+          if (tree_info.all_ids.empty()) {


main_id instead?

~~What about renaming all_ids to behavior_tree_ids, so in the new struct BTInfo:~~

~~main_id -> the ID provided in main_tree_to_execute~~
~~behavior_tree_ids -> all <BehaviorTree> tag IDs~~

Can you clarify? I don't think we are using main_id in this function

Shouldn't the main_id be checked as required, not all_ids? But I think from the recent comments below, this point is much less important - semantically it will have the same effect

We are looping through all ids to check if it has been registered, so I think we should still check all instead of main here

nav2_behavior_tree/src/behavior_tree_engine.cpp

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-02-17T08:40:26Z

Tested:
With all BTs having unique IDs
requesting both filepath & ID work, with subTree both before and after the main tree
With some duplicated IDs
requesting filepath work
requesting ID: Actually also work, but I am getting the confusing warning again Duplicate BT IDs found. Make sure all BT IDs are unique! ID: MainTree File:...

I tested these again with my latest version, and everything looks fine to me

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

adivardi · 2026-02-17T14:10:57Z

I tested these again with my latest version, and everything looks fine to me

I didn't do a full test again now, just tested our main xml file, and it is working with this PR, even when requesting a filename

mini-1235 · 2026-02-17T15:06:45Z

I tested these again with my latest version, and everything looks fine to me

I didn't do a full test again now, just tested our main xml file, and it is working with this PR, even when requesting a filename

Thank you @adivardi !

nav2_behavior_tree/src/behavior_tree_engine.cpp

…present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

SteveMacenski

LGTM - did you update / add all the testing you wanted?

Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

mini-1235 · 2026-02-18T09:34:16Z

022477e added some test cases, hopefully this covers all the corner cases :)

SteveMacenski

@adivardi are you happy with the final changes as well?

adivardi · 2026-02-20T10:34:25Z

In general looks good, also tested a few scenarios and it is working fine.
The Skipping conflicting BT XML files shows up correctly when I have conflicting IDs.

SteveMacenski · 2026-02-20T21:06:08Z

Great, thanks for being persistent on this issue & thanks @mini-1235 for handling this!

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert unrelated changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Second prototype Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Only require main id when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test to cover corner case Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert unrelated changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Second prototype Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Only require main id when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test to cover corner case Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert unrelated changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Second prototype Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Only require main id when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test to cover corner case Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert unrelated changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Second prototype Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Only require main id when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test to cover corner case Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> Signed-off-by: panav <panav@10xconstruction.com> Signed-off-by: Maurice <mauricepurnawan@gmail.com>

…#5950) * Revert "Changing BT loading warning to be more clear (ros-navigation#5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert "Bt warning fix (ros-navigation#5594)" This reverts commit 00dfd67. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix subtree parsing error when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Revert unrelated changes Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Second prototype Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Apply suggestions Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Only require main id when using filepath Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix comment formatting in behavior_tree_engine.cpp Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com> * Lint Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Fix test Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Require main_tree_to_execute to be set if multiple BehaviorTree tags present Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> * Add test to cover corner case Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> --------- Signed-off-by: mini-1235 <mauricepurnawan@gmail.com> Signed-off-by: Maurice Alexander Purnawan <mauricepurnawan@gmail.com>

mini-1235 added 4 commits February 11, 2026 12:41

Revert "Changing BT loading warning to be more clear (ros-navigation#…

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…5938)" This reverts commit 517ebf4. Signed-off-by: mini-1235 <mauricepurnawan@gmail.com>

Revert "Bt warning fix (ros-navigation#5594)"

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Fix subtree parsing error when using filepath

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SubTrees in the same BT xml file lead to crash when a filepath is used #5923

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