lint fixing and longer server time for test

Signed-off-by: silanus23 <[email protected]>

Author: silanus23

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_node.hpp

@@ -220,7 +220,7 @@ class BtActionNode : public BT::ActionNodeBase
         }
       }
     } else {
-    if (!BT::isStatusActive(status())) {
+      if (!BT::isStatusActive(status())) {
         needs_initialization_ = true;
       }
     }
@@ -522,7 +522,7 @@ class BtActionNode : public BT::ActionNodeBase
   // Can be set in on_tick or on_wait_for_result to indicate if a goal should be sent.
   bool should_send_goal_;
 
-// Initialized to UINT64_MAX as a sentinel value to ensure the first tick always triggers initialization
+// Initialized to UINT64_MAX as a sentinel value to ensure the first tick always triggers
   bool is_global_ {false};
   uint64_t last_run_id_ {UINT64_MAX};
 };

nav2_behavior_tree/test/plugins/action/test_bt_action_node.cpp

@@ -655,7 +655,7 @@ TEST_F(BTActionNodeTestFixture, test_run_id_zero_edge_case)
 
   tree_ = std::make_shared<BT::Tree>(factory_->createTreeFromText(xml_txt, config_->blackboard));
   action_server_->setHandleGoalSleepDuration(2ms);
-  action_server_->setServerLoopRate(10ns);
+  action_server_->setServerLoopRate(10ms);
 
   auto result = tree_->tickOnce();
   EXPECT_EQ(result, BT::NodeStatus::RUNNING);