SetBlackboard crashing when used with a typed remapped port

[afrixs]

Version: 3.8.5

Custom node (the important part is that <bool> is used inside providedPorts()):

#include "behaviortree_cpp_v3/behavior_tree.h"

namespace bt_test
{
class Assert : public BT::SyncActionNode
{
  public:
    Assert(const std::string& name, const BT::NodeConfiguration& config)
      : BT::SyncActionNode(name, config) {}

    static BT::PortsList providedPorts() {
        return {BT::InputPort<bool>("condition")};
    }

  private:
    virtual BT::NodeStatus tick() override {
        if (getInput<bool>("condition").value())
            return BT::NodeStatus::SUCCESS;
        else
            return BT::NodeStatus::FAILURE;
    }
};
} // end namespace

BT:

<?xml version='1.0'?>
<root main_tree_to_execute = "MainTree" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <BehaviorTree ID="MainTree">
    <Sequence>
      <SubTreePlus ID="Init" test="{test}" />
      <Assert condition="{test}" />
    </Sequence>
  </BehaviorTree>

  <BehaviorTree ID="Init">
    <SetBlackboard output_key="test" value="true"/>
  </BehaviorTree>
</root>

Expected behavior:
SUCCESS

Actual behavior:

terminate called after throwing an instance of 'BT::LogicError'
  what():  Blackboard: once declared, the type of a port shall not change. Previously declared type [bool] != new type [std::string]

Notes:

• Same happens with <SubTree ID="Init" test="test" />
• The crash doesn't occur when <SetBlackboard output_key="test" value="true"/> is used directly in the MainTree

[facontidavide]

thanks for reporting. Version 4.x on master was also affected. I fixed it there, but I will backport the fix to 3.8

[facontidavide]

Fixed on branch v3.8 too

[facontidavide]

thanks for providing a way to test it 😃

[bektaskemal]

Hi, will there be a 3.8 release for this?

[facontidavide]

@bektaskemal when you ask about a release, which ROS distro are you talking about? I think it was released