Issue with BT.CPP v 4.6

[Unknown-Student]

Hello,

I was wondering if you could help me, since you seem to know more about the BT.CPP library than me.

I followed youre tutorial and usesd your code for the patrolling robot and ajusted it to work with my robot and in my world. When using the BT.CPP version 3.6 like you everything worked fine and each of the four poses were reached.

Now I would like to update the version to BT.CPP 4.6. Not only to be on the latest version but also to have the integration of ROS2. I adapted the code by following this guide.

My issue now is that the robot only drives to the first pose. It seems like the result from the nav2 action server is not recieved because the done_flag_ is not set to true and the nav_to_pose_callback() is never executed.

Additionally, can you recommend any ressources for ROS 2 and BehaviorTree.CPP other than their respective websites?

I would greatly appreciate any help.
Thank you