fix XML: Subtree should remember the remapped ports

Author: facontidavide

include/behaviortree_cpp/xml_parsing.h

@@ -26,10 +26,12 @@ class XMLParser : public Parser
 
   void loadFromText(const std::string& xml_text, bool add_includes = true) override;
 
-  std::vector<std::string> registeredBehaviorTrees() const override;
+  [[nodiscard]] std::vector<std::string>
+  registeredBehaviorTrees() const override;
 
-  Tree instantiateTree(const Blackboard::Ptr& root_blackboard,
-                       std::string main_tree_to_execute = {}) override;
+  [[nodiscard]]Tree
+  instantiateTree(const Blackboard::Ptr& root_blackboard,
+                  std::string main_tree_to_execute = {}) override;
 
   void clearInternalState() override;
 
@@ -41,9 +43,11 @@ class XMLParser : public Parser
 void VerifyXML(const std::string& xml_text,
                const std::unordered_map<std::string, NodeType>& registered_nodes);
 
+[[nodiscard]]
 std::string writeTreeNodesModelXML(const BehaviorTreeFactory& factory,
                                    bool include_builtin = false);
 
+[[nodiscard]]
 std::string WriteTreeToXML(const Tree& tree, bool add_metadata = false);
 
 }   // namespace BT

src/xml_parsing.cpp

@@ -530,19 +530,15 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
   std::string instance_name = attr_name ? attr_name : type_ID;
 
   PortsRemapping port_remap;
-
-  if (node_type != NodeType::SUBTREE)
+  for (const XMLAttribute* att = element->FirstAttribute(); att; att = att->Next())
   {
-    // do this only if it NOT a Subtree
-    for (const XMLAttribute* att = element->FirstAttribute(); att; att = att->Next())
+    if (IsAllowedPortName(att->Name()))
     {
-      if (IsAllowedPortName(att->Name()))
-      {
-        const std::string attribute_name = att->Name();
-        port_remap[attribute_name] = att->Value();
-      }
+      const std::string attribute_name = att->Name();
+      port_remap[attribute_name] = att->Value();
     }
   }
+
   NodeConfig config;
   config.blackboard = blackboard;
   config.path = prefix_path + instance_name;
@@ -576,6 +572,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
 
   if (node_type == NodeType::SUBTREE)
   {
+    config.input_ports = port_remap;
     new_node = factory.instantiateTreeNode(instance_name,
                                            toStr(NodeType::SUBTREE),
                                            config);