Change registry insert to insert_or_assign to allow old weak_ptrs to be replaced

Author: perry-reframe

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
   {

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());

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());