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Consistency in Groot 2 #5078

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Merged
SteveMacenski merged 1 commit into from
Apr 11, 2025
Merged

Consistency in Groot 2 #5078

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4 changes: 2 additions & 2 deletions nav2_behavior_tree/include/nav2_behavior_tree/behavior_tree_engine.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -89,9 +89,9 @@ class BehaviorTreeEngine
/**
* @brief Add Groot2 monitor to publish BT status changes
* @param tree BT to monitor
* @param publisher_port Publisher port for the Groot2 monitor
* @param server_port Groot2 Server port, first of the pair (server_port, publisher_port)
*/
void addGrootMonitoring(BT::Tree * tree, uint16_t publisher_port);
void addGrootMonitoring(BT::Tree * tree, uint16_t server_port);

/**
* @brief Reset groot monitor
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4 changes: 2 additions & 2 deletions nav2_behavior_tree/src/behavior_tree_engine.cpp
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Expand Up @@ -104,10 +104,10 @@ BehaviorTreeEngine::createTreeFromFile(
void
BehaviorTreeEngine::addGrootMonitoring(
BT::Tree * tree,
uint16_t publisher_port)
uint16_t server_port)
{
// This logger publish status changes using Groot2
groot_monitor_ = std::make_unique<BT::Groot2Publisher>(*tree, publisher_port);
groot_monitor_ = std::make_unique<BT::Groot2Publisher>(*tree, server_port);

// Register common types JSON definitions
BT::RegisterJsonDefinition<builtin_interfaces::msg::Time>();
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