fixing BT library v3 issues

nav2_behavior_tree/plugins/action/navigate_to_pose_action.cpp

@@ -43,12 +43,10 @@ public:
     geometry_msgs::msg::Point position;
     geometry_msgs::msg::Quaternion orientation;
 
-    bool have_position = getInput("position", position);
-    bool have_orientation = getInput("orientation", orientation);
-
-    if (!have_position || !have_orientation) {
+    if (!getInput("position", position) || !getInput("orientation", orientation)) {
       RCLCPP_ERROR(node_->get_logger(),
         "NavigateToPoseAction: position or orientation not provided");
+      return;
     }
 
     goal_.pose.pose.position = position;
@@ -59,8 +57,8 @@ public:
   static BT::PortsList providedPorts()
   {
     return providedBasicPorts({
-        BT::InputPort<geometry_msgs::msg::Point>("position", "0;0;0", "Position"),
-        BT::InputPort<geometry_msgs::msg::Quaternion>("orientation", "0;0;0;0", "Orientation")
+        BT::InputPort<geometry_msgs::msg::Point>("position", "Position"),
+        BT::InputPort<geometry_msgs::msg::Quaternion>("orientation", "Orientation")
       });
   }
 };

nav2_behavior_tree/plugins/action/random_crawl_action.cpp

@@ -26,8 +26,10 @@ namespace nav2_behavior_tree
 class RandomCrawlAction : public BtActionNode<nav2_msgs::action::RandomCrawl>
 {
 public:
-  explicit RandomCrawlAction(const std::string & action_name)
-  : BtActionNode<nav2_msgs::action::RandomCrawl>(action_name)
+  explicit RandomCrawlAction(
+    const std::string & action_name,
+    const BT::NodeConfiguration & conf)
+  : BtActionNode<nav2_msgs::action::RandomCrawl>(action_name, conf)
   {
   }
 };

nav2_behavior_tree/plugins/control/recovery_node.cpp

@@ -50,7 +50,7 @@ public:
   {
     return {
       BT::InputPort<int>("number_of_retries", 1, "Number of retries")
-    }
+    };
   }
 
 private:
@@ -141,7 +141,7 @@ private:
     return BT::NodeStatus::FAILURE;
   }
 
-  void RecoveryNode::halt() override
+  void halt() override
   {
     ControlNode::halt();
     current_child_idx_ = 0;