From 46abb2c20308e0cf956614a53e7742269bbd3b48 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 5 Feb 2024 08:37:59 +0100
Subject: [PATCH] change return value of getInputPortOrBlackboard

---
 .../include/nav2_behavior_tree/bt_utils.hpp          | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
index 29da24fb0d2..7e8ea23ec73 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_utils.hpp
@@ -181,19 +181,19 @@ T1 deconflictPortAndParamFrame(
  * @return <T>
  */
 template<typename T> inline
-BT::Result getInputPortOrBlackboard(
+bool getInputPortOrBlackboard(
   const BT::TreeNode & bt_node,
   const BT::Blackboard & blackboard,
   const std::string & param_name,
   T & value)
 {
-  if (auto res = bt_node.getInput<T>(param_name, value)) {
-    return res;
+  if (bt_node.getInput<T>(param_name, value)) {
+    return true;
   }
-  if (auto res = blackboard.get<T>(param_name, value)) {
-    return {};
+  if (blackboard.get<T>(param_name, value)) {
+    return true;
   }
-  return nonstd::make_unexpected(StrCat(param_name, " not found"));
+  return false;
 }
 
 // Macro to remove boiler plate when using getInputPortOrBlackboard