Overrided registerNodesIntoFactory doesn't work

[kenyoshizoe]

Thank you for adding the new and exciting feature, BT::TreeExecutionServer.

I attempted to create my own class by inheriting from BT::TreeExecutionServer, but it seems that the registerNodesIntoFactory I inherited is not functioning properly. When attempting to load a behavior tree containing the Node added within registerNodesIntoFactory, the following error occurs:

[ERROR] [1715003079.255998664] [bt_action_server]: Failed to load BehaviorTree: tree.xml 
 Error at line 7: -> Node not recognized: MyNode

This issue seems to be caused by two reasons:

• The registerNodesIntoFactory called within the constructor of BT::TreeExecutionServer is its own rather than that of the inheriting class.
• RegisterBehaviorTrees() is called before registerNodesIntoFactory() is invoked.

BehaviorTree.ROS2/behaviortree_ros2/src/tree_execution_server.cpp

Lines 73 to 95 in 8790909

	TreeExecutionServer::TreeExecutionServer(const rclcpp::NodeOptions& options)
	: p_(new Pimpl(options))
	{
	// create the action server
	const auto action_name = p_->params.action_name;
	RCLCPP_INFO(kLogger, "Starting Action Server: %s", action_name.c_str());
	p_->action_server = rclcpp_action::create_server<ExecuteTree>(
	p_->node, action_name,
	[this](const rclcpp_action::GoalUUID& uuid,
	std::shared_ptr<const ExecuteTree::Goal> goal) {
	return handle_goal(uuid, std::move(goal));
	},
	[this](const std::shared_ptr<GoalHandleExecuteTree> goal_handle) {
	return handle_cancel(std::move(goal_handle));
	},
	[this](const std::shared_ptr<GoalHandleExecuteTree> goal_handle) {
	handle_accepted(std::move(goal_handle));
	});
	// register the users Plugins and BehaviorTree.xml files into the factory
	RegisterBehaviorTrees(p_->params, p_->factory, p_->node);
	registerNodesIntoFactory(p_->factory);
	}

BehaviorTree.ROS2/behaviortree_ros2/src/bt_utils.cpp

Lines 137 to 167 in 8790909

	void RegisterBehaviorTrees(bt_server::Params& params, BT::BehaviorTreeFactory& factory,
	rclcpp::Node::SharedPtr node)
	{
	// clear the factory and load/reload it with the Behaviors and Trees specified by the user in their [bt_action_server] config yaml
	factory.clearRegisteredBehaviorTrees();
	BT::RosNodeParams ros_params;
	ros_params.nh = node;
	ros_params.server_timeout = std::chrono::milliseconds(params.ros_plugins_timeout);
	ros_params.wait_for_server_timeout = ros_params.server_timeout;
	for(const auto& plugin : params.plugins)
	{
	const auto plugin_directory = GetDirectoryPath(plugin);
	// skip invalid plugins directories
	if(plugin_directory.empty())
	{
	continue;
	}
	LoadRosPlugins(factory, plugin_directory, ros_params);
	}
	for(const auto& tree_dir : params.behavior_trees)
	{
	const auto tree_directory = GetDirectoryPath(tree_dir);
	// skip invalid subtree directories
	if(tree_directory.empty())
	continue;
	LoadBehaviorTrees(factory, tree_directory);
	}
	}

[facontidavide]

yiu are right!!!! I will fix it