Fixed init set_move_to_pose variable to false

src/tiago_arm_bt_client_alg_node.cpp

@@ -17,12 +17,13 @@ TiagoArmModuleBtClientAlgNode::TiagoArmModuleBtClientAlgNode(void) :
   // [init action clients]
 
   this->set_move_to_joints = false;
+  this->set_move_to_pose = false;
   this->tiago_arm_module_bt.init(this->factory);
 
   // Init local functions
   BT::PortsList set_tiago_arm_move_to_joints_input_ports = {BT::OutputPort<sensor_msgs::JointState>("target_joints"), BT::OutputPort<double>("joint_tol"), BT::OutputPort<bool>("new_goal")};
   
-  BT::PortsList set_tiago_arm_move_to_pose_input_ports = {BT::InputPort<geometry_msgs::PoseStamped>("pose"), BT::InputPort<double>("position_tol"), BT::InputPort<double>("orientation_tol"), BT::BidirectionalPort<bool>("new_goal")};
+  BT::PortsList set_tiago_arm_move_to_pose_input_ports = {BT::OutputPort<geometry_msgs::PoseStamped>("pose"), BT::OutputPort<double>("position_tol"), BT::OutputPort<double>("orientation_tol"), BT::OutputPort<bool>("new_goal")};
 
   this->factory.registerIriAsyncAction("set_tiago_arm_move_to_joints_input",  std::bind(&TiagoArmModuleBtClientAlgNode::set_tiago_arm_move_to_joints_input, this, std::placeholders::_1), set_tiago_arm_move_to_joints_input_ports);
   this->factory.registerIriAsyncAction("set_tiago_arm_move_to_pose_input",  std::bind(&TiagoArmModuleBtClientAlgNode::set_tiago_arm_move_to_pose_input, this, std::placeholders::_1), set_tiago_arm_move_to_pose_input_ports);