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Change ClientInstance Registry insert to insert_or_assign #114

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Change ClientInstance Registry insert to insert_or_assign #114

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2 changes: 1 addition & 1 deletion behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -309,7 +309,7 @@ inline bool RosActionNode<T>::createClient(const std::string& action_name)
if(it == registry.end() || it->second.expired())
{
client_instance_ = std::make_shared<ActionClientInstance>(node, action_name);
registry.insert({ action_client_key_, client_instance_ });
registry.insert_or_assign( action_client_key_, client_instance_ );
}
else
{
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2 changes: 1 addition & 1 deletion behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -275,7 +275,7 @@ inline bool RosServiceNode<T>::createClient(const std::string& service_name)
if(it == registry.end() || it->second.expired())
{
srv_instance_ = std::make_shared<ServiceClientInstance>(node, service_name);
registry.insert({ client_key, srv_instance_ });
registry.insert_or_assign( client_key, srv_instance_ );

RCLCPP_INFO(logger(), "Node [%s] created service client [%s]", name().c_str(),
service_name.c_str());
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2 changes: 1 addition & 1 deletion behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
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Expand Up @@ -262,7 +262,7 @@ inline bool RosTopicSubNode<T>::createSubscriber(const std::string& topic_name)
if(it == registry.end() || it->second.expired())
{
sub_instance_ = std::make_shared<SubscriberInstance>(node, topic_name);
registry.insert({ subscriber_key_, sub_instance_ });
registry.insert_or_assign( subscriber_key_, sub_instance_ );

RCLCPP_INFO(logger(), "Node [%s] created Subscriber to topic [%s]", name().c_str(),
topic_name.c_str());
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