From fcb90807b5758d505b557b336044c86572132c23 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Fri, 19 Jan 2024 14:35:34 +0100
Subject: [PATCH] fix for backward compatibility

Signed-off-by: Davide Faconti <davide.faconti@gmail.com>
---
 .../include/nav2_behavior_tree/bt_utils.hpp      | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
index ddcec8f4df9..be76c4f0592 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
@@ -132,22 +132,22 @@ inline std::set<int> convertFromString(StringView key)
 }
 
 /**
- * @brief Return parameter value from behavior tree node or ros2 parameter file
+ * @brief Return parameter value from behavior tree node or ros2 parameter file.
  * @param node rclcpp::Node::SharedPtr
  * @param param_name std::string
- * @param behavior_tree_node the node
- * @return <T>
+ * @param behavior_tree_node T2
+ * @return <T1>
  */
-template<typename T>
-T deconflictPortAndParamFrame(
+template<typename T1, typename T2 = const BT::TreeNode>
+T1 deconflictPortAndParamFrame(
   rclcpp::Node::SharedPtr node,
   std::string param_name,
   const BT::TreeNode * behavior_tree_node)
 {
-  T param_value;
-  bool param_from_input = behavior_tree_node->getInput<T>(param_name, param_value);
+  T1 param_value;
+  bool param_from_input = behavior_tree_node->getInput<T1>(param_name, param_value);
 
-  if constexpr (std::is_same_v<T, std::string>) {
+  if constexpr (std::is_same_v<T1, std::string>) {
     // not valid if port doesn't exist or it is an empty string
     param_from_input &= !param_value.empty();
   }