From e33052760d13e8e4ac97fb921e5132e7502d1680 Mon Sep 17 00:00:00 2001
From: perry-reframe <perry@reframe.systems>
Date: Thu, 12 Jun 2025 17:18:38 -0400
Subject: [PATCH] Change registry insert to insert_or_assign to allow old
 weak_ptrs to be replaced

---
 behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp  | 2 +-
 behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp | 2 +-
 .../include/behaviortree_ros2/bt_topic_sub_node.hpp             | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 05c664d..676089e 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -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
   {
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
index 77958cd..3a4908e 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
@@ -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());
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
index 211f41c..a1fee2e 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp
@@ -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());