fix the unexpected override

nav2_behavior_tree/include/nav2_behavior_tree/back_up_action.hpp

@@ -52,10 +52,10 @@ public:
 
   static BT::PortsList providedPorts()
   {
-    return {
+    return providedBasicPorts({
       BT::InputPort<double>("backup_dist", -0.15, "Distance to backup"),
       BT::InputPort<double>("backup_speed", 0.025, "Speed at which to backup")
-    };
+    });
   }
 };
 

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -62,12 +62,21 @@ public:
   {
   }
 
-  // Any BT node that accepts parameters must provide a requiredNodeParameters method
-  static BT::PortsList providedPorts()
+  // Any subclass of BtActionNode that accepts parameters must provide a providedPorts method
+  // and call providedBasicPorts in it.
+  static BT::PortsList providedBasicPorts(BT::PortsList addition)
   {
-    return {
+    BT::PortsList basic = {
       BT::InputPort<std::chrono::milliseconds>("server_timeout")
     };
+    basic.insert(addition.begin(), addition.end());
+
+    return basic;
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({});
   }
 
   // Derived classes can override any of the following methods to hook into the

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -60,13 +60,22 @@ public:
   {
   }
 
-  // Any BT node that accepts parameters must provide a requiredNodeParameters method
-  static BT::PortsList providedPorts()
+  // Any subclass of BtServiceNode that accepts parameters must provide a providedPorts method
+  // and call providedBasicPorts in it.
+  static BT::PortsList providedBasicPorts(BT::PortsList addition)
   {
-    return {
+    BT::PortsList basic = {
       BT::InputPort<std::string>("service_name", "please_set_service_name_in_BT_Node"),
       BT::InputPort<std::chrono::milliseconds>("server_timeout")
     };
+    basic.insert(addition.begin(), addition.end());
+
+    return basic;
+  }
+
+  static BT::PortsList providedPorts()
+  {
+    return providedBasicPorts({});
   }
 
   // The main override required by a BT service

nav2_behavior_tree/include/nav2_behavior_tree/compute_path_to_pose_action.hpp

@@ -53,10 +53,10 @@ public:
 
   static BT::PortsList providedPorts()
   {
-    return {
+    return providedBasicPorts({
       BT::OutputPort<nav_msgs::msg::Path>("path", "Path created by ComputePathToPose node"),
       BT::InputPort<geometry_msgs::msg::PoseStamped>("goal", "Destination to plan to")
-    };
+    });
   }
 
 private:

nav2_behavior_tree/include/nav2_behavior_tree/follow_path_action.hpp

@@ -56,9 +56,9 @@ public:
 
   static BT::PortsList providedPorts()
   {
-    return {
+    return providedBasicPorts({
       BT::InputPort<nav_msgs::msg::Path>("path", "Path to follow"),
-    };
+    });
   }
 };
 

nav2_behavior_tree/include/nav2_behavior_tree/navigate_to_pose_action.hpp

@@ -58,10 +58,10 @@ public:
   // Any BT node that accepts parameters must provide a requiredNodeParameters method
   static BT::PortsList providedPorts()
   {
-    return {
+    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")
-    };
+    });
   }
 };
 

nav2_behavior_tree/include/nav2_behavior_tree/spin_action.hpp

@@ -43,9 +43,9 @@ public:
 
   static BT::PortsList providedPorts()
   {
-    return {
+    return providedBasicPorts({
       BT::InputPort<double>("spin_dist", 1.57, "Spin distance")
-    };
+    });
   }
 };
 

nav2_behavior_tree/include/nav2_behavior_tree/wait_action.hpp

@@ -47,9 +47,9 @@ public:
   // Any BT node that accepts parameters must provide a requiredNodeParameters method
   static BT::PortsList providedPorts()
   {
-    return {
+    return providedBasicPorts({
       BT::InputPort<int>("wait_duration", 1, "Wait time")
-    };
+    });
   }
 };