move the request initialization to the constructor

Signed-off-by: Daisuke Sato <[email protected]>

Author: daisukes

nav2_behavior_tree/include/nav2_behavior_tree/bt_service_node.hpp

@@ -83,6 +83,7 @@ class BtServiceNode : public BT::SyncActionNode
   // The main override required by a BT service
   BT::NodeStatus tick() override
   {
+    request_ = std::make_shared<typename ServiceT::Request>();
     on_tick();
     auto future_result = service_client_->async_send_request(request_);
     return check_future(future_result);
@@ -91,7 +92,6 @@ class BtServiceNode : public BT::SyncActionNode
   // Fill in service request with information if necessary
   virtual void on_tick()
   {
-    request_ = std::make_shared<typename ServiceT::Request>();
   }
 
   // Check the future and decide the status of Behaviortree

nav2_behavior_tree/plugins/action/clear_costmap_service.cpp

@@ -37,7 +37,6 @@ class ClearEntireCostmapService : public BtServiceNode<nav2_msgs::srv::ClearEnti
 
   void on_tick() override
   {
-    BtServiceNode::on_tick();
     increment_recovery_count();
   }
 };