From 81ffb4e372a8f1d5c7a16320849308b8c4e8e658 Mon Sep 17 00:00:00 2001
From: Fedor Bokov <fedor@quasi.ai>
Date: Mon, 21 Oct 2024 16:34:16 -0400
Subject: [PATCH] fixed BT.CPP version after merge

---
 .../plugins/action/get_pose_from_path_action.hpp                | 2 +-
 nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp | 2 +-
 .../test/plugins/action/test_get_pose_from_path_action.cpp      | 2 +-
 nav2_controller/src/controller_server.cpp                       | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
index 4715b0eb226..091360b4795 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp
@@ -22,7 +22,7 @@
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav2_util/geometry_utils.hpp"
 #include "nav2_util/robot_utils.hpp"
-#include "behaviortree_cpp_v3/action_node.h"
+#include "behaviortree_cpp/action_node.h"
 #include "nav_msgs/msg/path.h"
 
 namespace nav2_behavior_tree
diff --git a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
index 13b2da31405..cab0311a37a 100644
--- a/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/get_pose_from_path_action.cpp
@@ -72,7 +72,7 @@ inline BT::NodeStatus GetPoseFromPath::tick()
 
 }  // namespace nav2_behavior_tree
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 BT_REGISTER_NODES(factory)
 {
   factory.registerNodeType<nav2_behavior_tree::GetPoseFromPath>("GetPoseFromPath");
diff --git a/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp b/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
index 934dea80b5a..39f6df2a3c9 100644
--- a/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
+++ b/nav2_behavior_tree/test/plugins/action/test_get_pose_from_path_action.cpp
@@ -23,7 +23,7 @@
 #include "nav_msgs/msg/path.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 
-#include "behaviortree_cpp_v3/bt_factory.h"
+#include "behaviortree_cpp/bt_factory.h"
 
 #include "utils/test_action_server.hpp"
 #include "nav2_behavior_tree/plugins/action/get_pose_from_path_action.hpp"
diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index 80fdf3a27b8..791acaec94e 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -221,7 +221,7 @@ ControllerServer::on_configure(const rclcpp_lifecycle::State & /*state*/)
   get_parameter("action_server_result_timeout", action_server_result_timeout);
   rcl_action_server_options_t server_options = rcl_action_server_get_default_options();
   server_options.result_timeout.nanoseconds = RCL_S_TO_NS(action_server_result_timeout);
-  
+
   // Create the action server that we implement with our followPath method
   // This may throw due to real-time prioritzation if user doesn't have real-time permissions
   try {