planer shuts down after takeoff

[lazafi]

after starting all modules, drone takes off and planer crashes

planer node log:

Writing planner_tree.dot/svg/png
Traceback (most recent call last):
  File "/catkin_ws/src/planner/scripts/planner_node.py", line 455, in <module>
    run_bt(tree)
  File "/catkin_ws/src/planner/scripts/planner_node.py", line 376, in run_bt
    behavior_tree.tick()
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/trees.py", line 227, in tick
    for node in self.root.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/composites.py", line 573, in tick
    for node in child.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/composites.py", line 304, in tick
    for node in child.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/composites.py", line 489, in tick
    for node in child.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/decorators.py", line 123, in tick
    for node in self.decorated.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/composites.py", line 489, in tick
    for node in child.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/composites.py", line 304, in tick
    for node in child.tick():
  File "/opt/ros/noetic/lib/python3/dist-packages/py_trees/behaviour.py", line 249, in tick
    new_status = self.update()
  File "/catkin_ws/src/planner/scripts/planner_node.py", line 39, in update
    path = dynamic_plan()
  File "/catkin_ws/src/planner/scripts/planner_node.py", line 136, in dynamic_plan
    grid = flat_to_2d(py_trees.blackboard.Blackboard().map_data, py_trees.blackboard.Blackboard().map_width)
AttributeError: 'Blackboard' object has no attribute 'map_data'

[VrabelPeter]

@11811341 this is why I suggested rewriting the movement-related code to use the constructs from py_trees and py_trees_ros modules, as the other part of planner source code does