GoalUpdater missing in behavior tree palette for Groot in Foxy

[Kaetera]

Bug report

Required Info:

• Operating System: Ubuntu 20.04
• ROS2 Version: -
• Version or commit hash: ros-foxy-nav2-bt-navigator 0.4.7-1focal.20211005.233007
• DDS implementation: CycloneDDS

This prevents to display in Groot any behavior tree that use a GoalUpdater node.

Steps to reproduce issue

0. Create a BTree with a GoalUpdater node:

   <root main_tree_to_execute="MainTree">
   <BehaviorTree ID="MainTree">  
     <GoalUpdater input_goal="{goal}" output_goal="{updated_goal}"/>
   </BehaviorTree>
   </root>

1. Install Groot from source (classic non-ROS version: https://github.com/BehaviorTree/Groot)
2. Run Groot app
3. Load the above tree following the instructions at https://github.com/ros-planning/navigation2/blob/foxy-devel/nav2_behavior_tree/groot_instructions.md 3a. Load the default behavior tree palette that is shipped in navigation2 (https://github.com/ros-planning/navigation2/blob/foxy-devel/nav2_behavior_tree/nav2_tree_nodes.xml) 3b. Import the minimal BTree above

Expected behavior

The import succeed and the tree is displayed in Groot:

Actual behavior

The import of the tree fails with the following message:

Additional information

The import fails because this node is note listed in the palette shipped for Foxy. A simple fix is to add it in https://github.com/ros-planning/navigation2/blob/foxy-devel/nav2_behavior_tree/nav2_tree_nodes.xml as it has already been done in the mainbranch :)

    <Decorator ID="GoalUpdater">
      <input_port name="input_goal">Original goal in</input_port>
      <output_port name="output_goal">Output goal set by subscription</output_port>
    </Decorator>

[SteveMacenski]

A PR would be appreciated, thanks!

[SteveMacenski]

Done

[WinstonHChou]

Was the dpkg of nav2-behavior-tree containing this commit released?

[SteveMacenski]

Foxy is no longer a supported distribution.