From 5930e059d061cb47673baf1a206ff478f639e1bb Mon Sep 17 00:00:00 2001
From: perry-reframe <perry@reframe.systems>
Date: Wed, 11 Jun 2025 13:04:45 -0400
Subject: [PATCH] Ensures that the ActionNode callbackgroup is only added to
 the singlethreaded executor

---
 .../include/behaviortree_ros2/bt_action_node.hpp             | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
index 05c664d..86464fa 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp
@@ -244,7 +244,7 @@ RosActionNode<T>::ActionClientInstance::ActionClientInstance(
     std::shared_ptr<rclcpp::Node> node, const std::string& action_name)
 {
   callback_group =
-      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
+      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   callback_executor.add_callback_group(callback_group, node->get_node_base_interface());
   action_client = rclcpp_action::create_client<T>(node, action_name, callback_group);
 }
@@ -310,6 +310,9 @@ inline bool RosActionNode<T>::createClient(const std::string& action_name)
   {
     client_instance_ = std::make_shared<ActionClientInstance>(node, action_name);
     registry.insert({ action_client_key_, client_instance_ });
+
+    RCLCPP_INFO(logger(), "Node [%s] created action client [%s]", name().c_str(),
+                action_name.c_str());
   }
   else
   {