Make a ROS parameter for it

Signed-off-by: Johannes Huemer <johannes.huemer@ait.ac.at>

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server.hpp

@@ -90,11 +90,10 @@ class BtActionServer
   /**
    * @brief Replace current BT with another one
    * @param bt_xml_filename The file containing the new BT, uses default filename if empty
-   * @param overwrite If true, the new BT will be reloaded even if the filename is the same
    * @return bool true if the resulting BT correspond to the one in bt_xml_filename. false
    * if something went wrong, and previous BT is maintained
    */
-  bool loadBehaviorTree(const std::string & bt_xml_filename = "", bool overwrite = false);
+  bool loadBehaviorTree(const std::string & bt_xml_filename = "");
 
   /**
    * @brief Getter function for BT Blackboard
@@ -252,6 +251,9 @@ class BtActionServer
   // The timeout value for waiting for a service to response
   std::chrono::milliseconds wait_for_service_timeout_;
 
+  // should the BT be reloaded even if the same xml filename is requested?
+  bool overwrite_xml_ = false;
+
   // User-provided callbacks
   OnGoalReceivedCallback on_goal_received_callback_;
   OnLoopCallback on_loop_callback_;

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -64,6 +64,9 @@ BtActionServer<ActionT>::BtActionServer(
   if (!node->has_parameter("action_server_result_timeout")) {
     node->declare_parameter("action_server_result_timeout", 900.0);
   }
+  if (!node->has_parameter("overwrite_xml")) {
+    node->declare_parameter("overwrite_xml", false);
+  }
 
   std::vector<std::string> error_code_names = {
     "follow_path_error_code",
@@ -161,6 +164,7 @@ bool BtActionServer<ActionT>::on_configure()
   int wait_for_service_timeout;
   node->get_parameter("wait_for_service_timeout", wait_for_service_timeout);
   wait_for_service_timeout_ = std::chrono::milliseconds(wait_for_service_timeout);
+  node->get_parameter("overwrite_xml", overwrite_xml_);
 
   // Get error code id names to grab off of the blackboard
   error_code_names_ = node->get_parameter("error_code_names").as_string_array();
@@ -215,13 +219,13 @@ bool BtActionServer<ActionT>::on_cleanup()
 }
 
 template<class ActionT>
-bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filename, bool overwrite)
+bool BtActionServer<ActionT>::loadBehaviorTree(const std::string & bt_xml_filename)
 {
   // Empty filename is default for backward compatibility
   auto filename = bt_xml_filename.empty() ? default_bt_xml_filename_ : bt_xml_filename;
 
   // Use previous BT if it is the existing one and overwrite flag is not set to true
-  if (!overwrite && current_bt_xml_filename_ == filename) {
+  if (!overwrite_xml_ && current_bt_xml_filename_ == filename) {
     RCLCPP_DEBUG(logger_, "BT will not be reloaded as the given xml is already loaded");
     return true;
   }