Bug report

Required Info:

• Operating System:
  • Ubuntu 20.04
• ROS2 Version:
  • Rolling
• Version or commit hash:
  • main
• DDS implementation:
  • does not matter

Steps to reproduce issue

Try changing the value for default_nav_to_pose_bt_xml under the bt_navigator node in your navigation yaml file.

Expected behavior

Changes the file to the one you mentioned.

Actual behavior

always sets to navigate_to_pose_w_replanning_and_recovery

Additional information

The method getDefaultBTFilepath here in this line uses node->has_parameter()
According to the API, has_parameters() will work only for the parameters declared.

Edit: It also applies to default_nav_through_pose_bt_xml