Naming BT client node after action name (#2470)

* Put action name in node namespace instead of node name

* Put namespace remapping in node options

* Rename client node with action name replacing "/" by "_"

* Code formatting

* Code formatting

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -82,11 +82,16 @@ bool BtActionServer<ActionT>::on_configure()
     throw std::runtime_error{"Failed to lock node"};
   }
 
-  // use suffix '_rclcpp_node' to keep parameter file consistency #1773
+  // Name client node after action name
+  std::string client_node_name = action_name_;
+  std::replace(client_node_name.begin(), client_node_name.end(), '/', '_');
+  // Use suffix '_rclcpp_node' to keep parameter file consistency #1773
   auto options = rclcpp::NodeOptions().arguments(
     {"--ros-args",
-      "-r", std::string("__node:=") + std::string(node->get_name()) + action_name_ + "_rclcpp_node",
+      "-r",
+      std::string("__node:=") + std::string(node->get_name()) + client_node_name + "_rclcpp_node",
       "--"});
+
   // Support for handling the topic-based goal pose from rviz
   client_node_ = std::make_shared<rclcpp::Node>("_", options);