From dcb426ca25d245337b3afe72b6691c083295bb83 Mon Sep 17 00:00:00 2001
From: shoufei <907575489@qq.com>
Date: Tue, 14 Jun 2022 04:34:19 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20wrong=20input=20type=20in=20navigate=5Ft?=
 =?UTF-8?q?o=5Fpose=5Faction.hpp=20and=20navigate=5Fto=5F=E2=80=A6=20(#299?=
 =?UTF-8?q?4)?=
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* 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>
---
 .../plugins/action/navigate_through_poses_action.hpp            | 2 +-
 .../plugins/action/navigate_to_pose_action.hpp                  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
index 5234dedaec..7e7f3d5c30 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/navigate_through_poses_action.hpp
+++ b/nav2_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
index e8c37af738..3708017f16 100644
--- 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"),
       });
   }
 };