plansys_bt_example params not loaded correctly on Humble

[stinkyElias]

Hello

Continuing on #42, a new issue arises. Running the plansys_bt_example with humble generates the error

[bt_action_node-2] [INFO] [1708703917.310511893] [move_1_bb_node]: "move" BtActionNode initialized
[bt_action_node-2] [ERROR] [1708703917.311049000] [move_1]: Caught exception in callback for transition 13
[bt_action_node-2] [ERROR] [1708703917.311068135] [move_1]: Original error: Statically typed parameter 'waypoints' must be initialized.
[bt_action_node-2] [WARN] [1708703917.311079767] [move_1]: Error occurred while doing error handling.

I can't seem to find the issue. However, checking the waypoints parameter that is supposed to be loaded from params.yaml, I see that it's not loaded. From params.yaml

move_1:
  ros__parameters:
    plugins:
      - plansys2_move_bt_node
    waypoints: ["wheels_zone", "steering_wheels_zone", "body_car_zone", "assembly_zone", "recharge_zone"]
    waypoint_coords:
      wheels_zone: [0.0, -2.0, 0.0]
      steering_wheels_zone: [1.8, 0.0, 0.0]
      body_car_zone: [0.0, 2.0, 0.0]
      assembly_zone: [-2.0, -0.4, 0.0]
      recharge_zone: [-2.0, -0.4, 0.0]

Using ros2 param list /move_1 returns

  action_name
  bt_file_logging
  bt_minitrace_logging
  bt_xml_file
  enable_groot_monitoring
  max_msgs_per_second
  plugins
  publisher_port
  rate
  server_port
  specialized_arguments
  use_sim_time

and shows that plugins for example is loaded correcly

$ ros2 param get /move_1 plugins
String values are: ['plansys2_move_bt_node']

however waypoints and waypoint_coordsis not. I find it weird that some parameters are loaded and some are not. Given that move_1don't have waypoints it makes sense to me that I receive the aforemention error message. However, I don't understand how to fix this.

As a test, I have verified that all the other examples work as they should, in case it was a setup issue.

I also checked #33 and verified that I have the correct code line.

Have anyone else experienced this?

Thank you

EDIT: The example works fine with rolling but not with humble

[tammerb]

Yes I'm having this same issues. Have you found a solution?

[fmrico]

Hi,

It is working "as is" in my updated humble installation, in the humble branch, but it could be that in previous ROS 2 parameters API, humble needs to initialize parameters, so in the action Move can be written this line as follows:

node->declare_parameter<std::vector<std::string>>("waypoints", {});

I hope it helps