From c4bc05f80f9892d65308c45b487a52438b82de6f Mon Sep 17 00:00:00 2001
From: turtlewizard73 <mate.laszlo703@gmail.com>
Date: Mon, 5 Aug 2024 10:26:49 +0200
Subject: [PATCH] add #3306

---
 .../include/nav2_behavior_tree/bt_action_server_impl.hpp    | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index 92526a7206..54358e305b 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -214,13 +214,9 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
     return false;
   }
 
-  auto xml_string = std::string(
-    std::istreambuf_iterator<char>(xml_file),
-    std::istreambuf_iterator<char>());
-
   // Create the Behavior Tree from the XML input
   try {
-    tree_ = bt_->createTreeFromText(xml_string, blackboard_);
+    tree_ = bt_->createTreeFromFile(filename, blackboard_);
     for (auto & blackboard : tree_.blackboard_stack) {
       blackboard->set<rclcpp::Node::SharedPtr>("node", client_node_);
       blackboard->set<std::chrono::milliseconds>("server_timeout", default_server_timeout_);