moving getInput for controller name to on_tick

nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp

@@ -38,6 +38,7 @@ public:
   void on_tick() override
   {
     getInput("path", goal_.path);
+    getInput("controller_name", goal_.controller_name);
   }
 
   void on_server_timeout() override
@@ -50,7 +51,6 @@ public:
       // Grab the new goal and set the flag so that we send the new goal to
       // the action server on the next loop iteration
       getInput("path", goal_.path);
-      getInput("controller_name", goal_.controller_name);
       goal_updated_ = true;
     }
   }

nav2_controller/src/nav2_controller.cpp

@@ -189,7 +189,7 @@ void ControllerServer::computeControl()
         if (!single_controller_warning_given_) {
           RCLCPP_WARN(get_logger(), "No controller was specified in action call."
             " Server will use only plugin loaded %s. "
-            "This warning will appear once.", controller_names_concat_);
+            "This warning will appear once.", controller_names_concat_.c_str());
           single_controller_warning_given_ = true;
         }
         current_controller_ = controllers_.begin()->first;