fix CI

Author: facontidavide

include/behaviortree_cpp/action_node.h

@@ -155,10 +155,10 @@ using AsyncActionNode = ThreadedActionNode;
  *
  * -) if halted, method onHalted() is invoked
  */
-class StatefulAsyncAction : public ActionNodeBase
+class StatefulActionNode : public ActionNodeBase
 {
 public:
-  StatefulAsyncAction(const std::string& name, const NodeConfig& config) :
+  StatefulActionNode(const std::string& name, const NodeConfig& config) :
     ActionNodeBase(name, config)
   {}
 
@@ -185,8 +185,6 @@ class StatefulAsyncAction : public ActionNodeBase
   std::atomic_bool halt_requested_;
 };
 
-// old name, for backward compatibility
-using StatefulActionNode = StatefulAsyncAction;
 
 #ifndef BT_NO_COROUTINES
 

sample_nodes/movebase_node.h

@@ -40,12 +40,12 @@ Pose2D convertFromString(StringView key)
 namespace chr = std::chrono;
 
 // This is an asynchronous operation
-class MoveBaseAction : public BT::StatefulAsyncAction
+class MoveBaseAction : public BT::StatefulActionNode
 {
   public:
     // Any TreeNode with ports must have a constructor with this signature
     MoveBaseAction(const std::string& name, const BT::NodeConfig& config)
-      : StatefulAsyncAction(name, config)
+      : StatefulActionNode(name, config)
     {}
 
     // It is mandatory to define this static method.

src/action_node.cpp

@@ -121,7 +121,7 @@ void CoroActionNode::halt()
 }
 #endif
 
-bool StatefulAsyncAction::isHaltRequested() const
+bool StatefulActionNode::isHaltRequested() const
 {
   return halt_requested_.load();
 }

src/bt_factory.cpp

@@ -186,7 +186,7 @@ std::vector<std::string> getCatkinLibraryPaths()
     {
       std::filesystem::path path(static_cast<std::string>(catkin_prefix_path));
       std::filesystem::path lib("lib");
-      lib_paths.push_back((path / lib).str());
+      lib_paths.push_back((path / lib).string());
     }
   }
   return lib_paths;
@@ -206,8 +206,8 @@ void BehaviorTreeFactory::registerFromROSPlugins()
       const auto full_path = std::filesystem::path(lib_path) / filename;
       if (full_path.exists())
       {
-        std::cout << "Registering ROS plugins from " << full_path.str() << std::endl;
-        registerFromPlugin(full_path.str());
+        std::cout << "Registering ROS plugins from " << full_path.string() << std::endl;
+        registerFromPlugin(full_path.string());
         break;
       }
     }