Build error and test failure fix

Author: suchetanrs

roadmap_explorer/src/ExplorationServer.cpp

@@ -75,7 +75,7 @@ nav2_util::CallbackReturn ExplorationServer::on_activate(const rclcpp_lifecycle:
 #ifdef ROS_DISTRO_HUMBLE
     rmw_qos_profile_services_default,
 #elif ROS_DISTRO_JAZZY || ROS_DISTRO_KILTED
-    rclcpp::QoS(rclcpp::ServicesQoSProfile()),
+    rclcpp::ServicesQoS(),
 #else
     #error "Unsupported ROS distro"
 #endif

roadmap_explorer/tests/bt_plugins/test_log_iteration_plugin.cpp

@@ -322,7 +322,8 @@ TEST_F(LogIterationPluginTest, BasicThreadSafety)
   context_ = createContext();
   plugin_->registerNodes(*factory_, context_);
 
-  // Create a simple behavior tree XML with multiple LogIterationBT nodes
+#ifdef ROS_DISTRO_HUMBLE
+  // For Humble (BT.CPP 3.x): Use Parallel node
   std::string bt_xml = R"(
     <root BTCPP_format="4">
       <BehaviorTree ID="ThreadSafetyTest">
@@ -333,6 +334,22 @@ TEST_F(LogIterationPluginTest, BasicThreadSafety)
       </BehaviorTree>
     </root>
   )";
+#elif ROS_DISTRO_JAZZY || ROS_DISTRO_KILTED
+  // For Jazzy/Kilted (BT.CPP 4.x): Use Sequence instead
+  // Parallel nodes behave differently with tickOnce() in BT.CPP 4.x
+  std::string bt_xml = R"(
+    <root BTCPP_format="4">
+      <BehaviorTree ID="ThreadSafetyTest">
+        <Sequence>
+          <LogIterationBT name="thread_test_1" />
+          <LogIterationBT name="thread_test_2" />
+        </Sequence>
+      </BehaviorTree>
+    </root>
+  )";
+#else
+  #error "Unsupported ROS distro"
+#endif
 
   // Create blackboard
   auto blackboard = BT::Blackboard::create();