Fix dangling‐capture in TestNodeConfig

Author: facontidavide

include/behaviortree_cpp/actions/test_node.h

@@ -37,9 +37,9 @@ struct TestNodeConfig
   /// if async_delay > 0, this action become asynchronous and wait this amount of time
   std::chrono::milliseconds async_delay = std::chrono::milliseconds(0);
 
-  /// Function invoked when the action is completed. By default just return [return_status]
-  /// Override it to intorduce more comple cases
-  std::function<NodeStatus(void)> complete_func = [this]() { return return_status; };
+  /// Function invoked when the action is completed.
+  /// If not specified, the node will return [return_status]
+  std::function<NodeStatus(void)> complete_func;
 };
 
 /**

src/actions/test_node.cpp

@@ -68,7 +68,8 @@ BT::NodeStatus BT::TestNode::onCompleted()
 {
   Ast::Environment env = { config().blackboard, config().enums };
 
-  auto status = _test_config.complete_func();
+  auto status = (_test_config.complete_func) ? _test_config.complete_func() :
+                                               _test_config.return_status;
   if(status == NodeStatus::SUCCESS && _success_executor)
   {
     _success_executor(env);