SubTrees in the same BT xml file lead to crash when a filepath is used #5923
Description
Bug report
Following dicussion in #5494.
When using a SubTree, defined in the same file as the main tree, it is now not possible to use a filepath to specify the BT. Only ID works. When requesting a file (or using a file as the default BT), the subtree fails due to remapping. When specifing the ID of the main tree, it works fine.
Required Info:
- Operating System:
Ubuntu 24.04 - Computer:
12th Gen Intel(R) Core(TM) i7-12700H - ROS2 Version:
Jazzy - Version or commit hash:
a17d7d8 - DDS implementation:
Zenoh
Steps to reproduce issue
Simply extract a subtree from one of the default BT xml.
For example, I did it to the nav_through_poses xml here:
subtree.patch
Expected behavior
BT can run and execute the subTree.
Actual behavior
Remapping errors appear immediately when launching nav2:
[bt_navigator] [/opt/enway/ros2_ws/install/nav2_behavior_tree/include/nav2_behavior_tree/nav2_behavior_tree/bt_action_server_impl.hpp:327] Created BT from ID: NavToPoseWithConsistentReplanningAndIfPathBecomesInvalidEnway
[bt_navigator] [/opt/enway/ros2_ws/install/nav2_behavior_tree/include/nav2_behavior_tree/nav2_behavior_tree/bt_action_server_impl.hpp:437] Setting internal error error_code:9101, error_msg:Exception when creating BT tree from ID: Blackboard::get() error. Missing key [node]
[bt_navigator] [/opt/enway/ros2_ws/install/nav2_behavior_tree/include/nav2_behavior_tree/nav2_behavior_tree/bt_action_server_impl.hpp:194] Error loading BT: /opt/enway/ros2_ws/install/nav2_bt_navigator/share/nav2_bt_navigator/behavior_trees/navigate_through_poses_w_replanning_and_recovery.xml
[bt_navigator] [/opt/enway/ros2_ws/src/enway_ros2/navigation/navigation2/nav2_bt_navigator/src/bt_navigator.cpp:152] Deactivating
[bt_navigator] [/opt/enway/ros2_ws/install/nav2_ros_common/include/nav2_ros_common/nav2_ros_common/lifecycle_node.hpp:364] Destroying bond (bt_navigator) to lifecycle manager.
[lifecycle_manager_navigation] [/opt/enway/ros2_ws/src/enway_ros2/navigation/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp:315] Failed to change state for node: bt_navigator
[lifecycle_manager_navigation] [/opt/enway/ros2_ws/src/enway_ros2/navigation/navigation2/nav2_lifecycle_manager/src/lifecycle_manager.cpp:382] Failed to bring up all requested nodes. Aborting bringup.