fix for backward compatibility

Signed-off-by: Davide Faconti <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp

@@ -132,22 +132,22 @@ inline std::set<int> convertFromString(StringView key)
 }
 
 /**
- * @brief Return parameter value from behavior tree node or ros2 parameter file
+ * @brief Return parameter value from behavior tree node or ros2 parameter file.
  * @param node rclcpp::Node::SharedPtr
  * @param param_name std::string
- * @param behavior_tree_node the node
- * @return <T>
+ * @param behavior_tree_node T2
+ * @return <T1>
  */
-template<typename T>
-T deconflictPortAndParamFrame(
+template<typename T1, typename T2 = const BT::TreeNode>
+T1 deconflictPortAndParamFrame(
   rclcpp::Node::SharedPtr node,
   std::string param_name,
   const BT::TreeNode * behavior_tree_node)
 {
-  T param_value;
-  bool param_from_input = behavior_tree_node->getInput<T>(param_name, param_value);
+  T1 param_value;
+  bool param_from_input = behavior_tree_node->getInput<T1>(param_name, param_value);
 
-  if constexpr (std::is_same_v<T, std::string>) {
+  if constexpr (std::is_same_v<T1, std::string>) {
     // not valid if port doesn't exist or it is an empty string
     param_from_input &= !param_value.empty();
   }