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add createTreeFromFile #23

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add createTreeFromFile #23

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6 changes: 1 addition & 5 deletions nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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_);
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