I removed references still related to the old version of Behavior Tree V3.8 (BT::NodeConfiguration now BT::NodeConfig in BT 4.x naming convention).
Note: In the launch file plansys2_bt_example_launch.py of the plansys2_bt_example package, there are still the server_port and publisher_port parameters passed to the action nodes (here), which were actually removed from the last PR as communication with Groot was removed. I have left them in case in the future we decide to enable communication with Groot2 or a light Groot-Groot2 interface.
I removed references still related to the old version of Behavior Tree V3.8 (
BT::NodeConfigurationnowBT::NodeConfigin BT 4.x naming convention).Note: In the launch file
plansys2_bt_example_launch.pyof theplansys2_bt_examplepackage, there are still theserver_portandpublisher_portparameters passed to the action nodes (here), which were actually removed from the last PR as communication with Groot was removed. I have left them in case in the future we decide to enable communication with Groot2 or a light Groot-Groot2 interface.