use PoseStampedArray

Signed-off-by: Tony Najjar <[email protected]>

nav2_behavior_tree/include/nav2_behavior_tree/plugins/decorator/goal_updater_node.hpp

@@ -38,7 +38,6 @@ namespace nav2_behavior_tree
 class GoalUpdater : public BT::DecoratorNode
 {
 public:
-  typedef std::vector<geometry_msgs::msg::PoseStamped> Goals;
   /**
    * @brief A constructor for nav2_behavior_tree::GoalUpdater
    * @param xml_tag_name Name for the XML tag for this node
@@ -56,10 +55,10 @@ class GoalUpdater : public BT::DecoratorNode
   {
     return {
       BT::InputPort<geometry_msgs::msg::PoseStamped>("input_goal", "Original Goal"),
-      BT::InputPort<Goals>("input_goals", "Original Goals"),
+      BT::InputPort<geometry_msgs::msg::PoseStampedArray>("input_goals", "Original Goals"),
       BT::OutputPort<geometry_msgs::msg::PoseStamped>("output_goal",
           "Received Goal by subscription"),
-      BT::OutputPort<Goals>("output_goals", "Received Goals by subscription")
+      BT::OutputPort<geometry_msgs::msg::PoseStampedArray>("output_goals", "Received Goals by subscription")
     };
   }