Davide Faconti

Perfectly valid reasoning 😊 The last thing I want is to unintentionally insert a regression in your software 😅

I took a quick look at LCM and I don't find something mandatory in this case, to implement it with PlotJuggler, a reflection API for the serialized messages. In other...

not changing this, in case it breaks anything

By the way: why does Nav2 use plugins so much to implement BehaviorTree nodes? I don't see a reason. It would be simpler to just link statically the "built-in" Nodes,...

Roadmap in terms of PRs: 1. First, get #4059 merged. That will fix a lot of errors when trying to migrate 2. I would like to discuss the use of...

## Initialization parameters > There are certain resources like nodes and timeouts which all BT nodes share that would be incredibly redundant to make a port for every instance **I...

> Honestly though, how is that different than the blackboard? YES. The difference is that: - this pattern "pollutes" the blackboard with names that are not visible in the manifest,...

Actually lets stop discussing this.  Those "best practice" changes are NOT required to migrate to **BT.CPP 4**, if I don't mistake, therefore I will refocus the discussion here to...

See here: https://github.com/BehaviorTree/BehaviorTree.ROS2/blob/humble/behaviortree_ros2/include/behaviortree_ros2/plugins.hpp Problem solved already :smile:

I will work during the weekend on the migration guide. Also, I prepared this article: https://www.behaviortree.dev/docs/guides/ports_vs_blackboard This explains the drawback of accessing the blackboard directly and why it should be...