From dc7b98efcfa043e94cac29f55f502788df2bf80e Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Mon, 30 Oct 2023 13:40:34 -0700
Subject: [PATCH] Fixing subtree issues with blackboard shared resources (3640)
 (#3911) (#3915)

* fixing subtree issues

* Update bt_action_server_impl.hpp

(cherry picked from commit 4b4465dfc9427b95e98aef70620bedd933cfbe56)

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>
---
 .../include/nav2_behavior_tree/bt_action_server_impl.hpp     | 5 +++++
 1 file changed, 5 insertions(+)

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 3e2ee0aee8e..026fdb4cbc8 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
@@ -231,6 +231,11 @@ bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filena
   // Create the Behavior Tree from the XML input
   try {
     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_);
+      blackboard->set<std::chrono::milliseconds>("bt_loop_duration", bt_loop_duration_);
+    }
   } catch (const std::exception & e) {
     RCLCPP_ERROR(logger_, "Exception when loading BT: %s", e.what());
     return false;