fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_… (

#2994) * fix: wrong input type in navigate_to_pose_action.hpp and navigate_to_pose_action.hpp * Update navigate_through_poses_action.hpp Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
ros-navigation · Aug 24, 2022 · dcb426c · dcb426c
1 parent 71f9a62
commit dcb426c
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diff --git a/...behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp b/...behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
@@ -56,7 +56,7 @@ class NavigateThroughPosesAction : public BtActionNode<nav2_msgs::action::Naviga
     return providedBasicPorts(
       {
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goals", "Destinations to plan through"),
-        BT::InputPort<geometry_msgs::msg::PoseStamped>("behavior_tree", "Behavior tree to run"),
+        BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
       });
   }
 };

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_to_pose_action.hpp
@@ -56,7 +56,7 @@ class NavigateToPoseAction : public BtActionNode<nav2_msgs::action::NavigateToPo
     return providedBasicPorts(
       {
         BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to"),
-        BT::InputPort<geometry_msgs::msg::PoseStamped>("behavior_tree", "Behavior tree to run"),
+        BT::InputPort<std::string>("behavior_tree", "Behavior tree to run"),
       });
   }
 };