Fix: adding default template findRoute function

> reverting to nav2::LifecycleNode rather using rclcpp::Node

Signed-off-by: Dhruv Patel <dhruvpatel2991998@gmail.com>

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -176,7 +176,7 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
   blackboard_ = BT::Blackboard::create();
 
   // Put items on the blackboard
-  blackboard_->template set<rclcpp::Node::SharedPtr>("node", client_node_);  // NOLINT
+  blackboard_->template set<nav2::LifecycleNode::SharedPtr>("node", client_node_);  // NOLINT
   blackboard_->template set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);  // NOLINT
   blackboard_->template set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);  // NOLINT
   blackboard_->template set<std::chrono::milliseconds>(

nav2_route/include/nav2_route/plugins/route_operation_client.hpp

@@ -164,7 +164,7 @@ class RouteOperationClient : public RouteOperation
                   "Route operation service (" + getName() + ") failed to lock node.");
         }
         auto client =
-          node->create_client<SrvT>(srv_name, true);
+          node->template create_client<SrvT>(srv_name, true);
         response = client->invoke(req, std::chrono::nanoseconds(500ms));
       }
     } catch (const std::exception & e) {

nav2_route/include/nav2_route/route_server.hpp

@@ -119,18 +119,41 @@ class RouteServer : public nav2::LifecycleNode
   void computeAndTrackRoute();
 
   /**
-   * @brief Abstract method combining finding the starting/ending nodes and the route planner
-   * to find the Node locations of interest and route to the goal
-   * @param goal The request goal information
-   * @param blocked_ids The IDs of blocked graphs / edges
-   * @param updated_start_id The nodeID of an updated starting point when tracking
-   * a route that corresponds to the next point to route to from to continue progress
-   * @return A route of the request
+   * @brief Compute a route to the goal.
+   *
+   * This method determines the start and goal nodes and uses the route planner
+   * to generate a path from the current start to the requested goal. This
+   * overload uses a default (empty) ReroutingState and performs a standard,
+   * non-rerouted route computation.
+   *
+   * @param goal The request goal information.
+   * @return A route from the selected start node to the goal.
+   */
+  template<typename GoalT>
+  Route findRoute(
+    const std::shared_ptr<const GoalT> goal);
+
+  /**
+   * @brief Compute a route to the goal, incorporating rerouting information.
+   *
+   * This method combines finding the starting and ending nodes with the route
+   * planner to determine the relevant node locations and compute the route.
+   * The provided ReroutingState can specify:
+   *   - an updated starting node ID when tracking a previous route,
+   *   - an overridden starting pose for rerouting,
+   *   - optional constraints such as blocked elements to avoid (if provided).
+   *
+   * This allows progress to continue smoothly when re-planning or recovering
+   * from partial execution of a previous route.
+   *
+   * @param goal The request goal information.
+   * @param rerouting_info State describing updated start and rerouting context.
+   * @return A route from the selected start node to the goal.
    */
   template<typename GoalT>
   Route findRoute(
     const std::shared_ptr<const GoalT> goal,
-    ReroutingState rerouting_info = ReroutingState());
+    ReroutingState & rerouting_info);
 
   /**
    * @brief Main processing called by both action server callbacks to centralize

nav2_route/src/route_server.cpp

@@ -211,10 +211,18 @@ void RouteServer::populateActionResult(
   result->execution_duration = execution_duration;
 }
 
+template<typename GoalT>
+Route RouteServer::findRoute(
+  const std::shared_ptr<const GoalT> goal)
+{
+  ReroutingState rerouting_info;
+  return findRoute<GoalT>(goal, rerouting_info);
+}
+
 template<typename GoalT>
 Route RouteServer::findRoute(
   const std::shared_ptr<const GoalT> goal,
-  ReroutingState rerouting_info)
+  ReroutingState & rerouting_info)
 {
   // Find the search boundaries
   auto [start_route, end_route] = goal_intent_extractor_->findStartandGoal(goal);