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Fix macOS compilation issues in Navigation2 packages #5729

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Fix macOS compilation issues in Navigation2 packages #5729

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636668e
Fix macOS compilation issues in Navigation2 packages
idesign0 Nov 26, 2025
d25683f
Pre-commit Fix
idesign0 Nov 26, 2025
6ab59fe
Fix: adding default template findRoute function
idesign0 Nov 27, 2025
2200667
Merge branch 'ros-navigation:main' into main
idesign0 Nov 29, 2025
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24 changes: 13 additions & 11 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,10 +176,10 @@ bool BtActionServer<ActionT, NodeT>::on_configure()
blackboard_ = BT::Blackboard::create();

// Put items on the blackboard
blackboard_->set<nav2::LifecycleNode::SharedPtr>("node", client_node_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_); // NOLINT
blackboard_->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_); // NOLINT
blackboard_->set<std::chrono::milliseconds>(
blackboard_->template set<rclcpp::Node::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>(
"wait_for_service_timeout",
wait_for_service_timeout_);

Expand Down Expand Up @@ -328,11 +328,13 @@ bool BtActionServer<ActionT, NodeT>::loadBehaviorTree(const std::string & bt_xml

for (auto & subtree : tree_.subtrees) {
auto & blackboard = subtree->blackboard;
blackboard->set("node", client_node_);
blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);
blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
blackboard->set<std::chrono::milliseconds>(
"wait_for_service_timeout", wait_for_service_timeout_);
blackboard->template set("node", client_node_);
blackboard->template set<std::chrono::milliseconds>("server_timeout",
default_server_timeout_);
blackboard->template set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
blackboard->template set<std::chrono::milliseconds>(
"wait_for_service_timeout",
wait_for_service_timeout_);
}
} catch (const std::exception & e) {
setInternalError(
Expand Down Expand Up @@ -498,9 +500,9 @@ void BtActionServer<ActionT, NodeT>::cleanErrorCodes()
std::string name;
for (const auto & error_code_name_prefix : error_code_name_prefixes_) {
name = error_code_name_prefix + "_error_code";
blackboard_->set<unsigned short>(name, 0); //NOLINT
blackboard_->template set<unsigned short>(name, 0); //NOLINT
name = error_code_name_prefix + "_error_msg";
blackboard_->set<std::string>(name, "");
blackboard_->template set<std::string>(name, "");
}
resetInternalError();
}
Expand Down
2 changes: 1 addition & 1 deletion nav2_route/include/nav2_route/route_server.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -130,7 +130,7 @@ class RouteServer : public nav2::LifecycleNode
template<typename GoalT>
Route findRoute(
const std::shared_ptr<const GoalT> goal,
ReroutingState & rerouting_info = ReroutingState());
ReroutingState rerouting_info = ReroutingState());

/**
* @brief Main processing called by both action server callbacks to centralize
Expand Down
2 changes: 1 addition & 1 deletion nav2_route/src/route_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -214,7 +214,7 @@ void RouteServer::populateActionResult(
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);
Expand Down
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