fix(xml): accept SubTrees that share a name, as in 4.7.2

[dv-picknik]

[written by AI]

Refs PickNikRobotics/moveit_pro#23867

Upstream 4.8.4 throws Duplicate SubTree path detected when two SubTree nodes in one tree share a name. The fork's 4.7.2 accepted them, and the MoveIt Pro editor writes name equal to the ID on every SubTree it adds. So Objectives that ran on 10.1 fail to start on 10.2. 8 of the 51 PickNikRoboticsServices workspaces with Objectives hit it, 49 files in all (list in the issue).

This drops the check, so duplicates share a path again as they did in 4.7.2. I kept the 4.7.2 behavior rather than giving duplicates a unique ID::UID path. MoveIt Pro's parameter overrides match subtree blackboards by instance_name, so renaming duplicates would change which blackboards an override reaches compared with 10.1.

Duplicates sharing a path still affect the same things they did on 10.1. TreeObserver keeps one UID per path, Groot2 shows one _fullpath for both, and ExportTreeToJSON and MoveIt Pro's blackboard view keep one entry per name. Nothing in MoveIt Pro uses TreeObserver or Groot2Publisher.

Tests

• DuplicateSubTreeName_AcceptedAsIn472: three SubTrees named my_worker, two siblings and one under a different control node, load, share the path my_worker, and tick to SUCCESS.
• EmptySubTreeNameAtRoot_AcceptedAsIn472: a name="" SubTree at the top of the main tree loads and ticks. Upstream rejects it because the path collides with the root's empty path.
• Both fail on main-picknik. They replace DuplicateSubTreeName_Groot2Issue56, DuplicateSubTreeName_ErrorMessage and NestedDuplicateNames_ShouldFail, which expect the throw.
• 577/577 tests pass locally, and pre-commit passes.

After merge

MoveIt Pro picks this up once apt_build_farm builds a new behaviortree-cpp-picknik package and BTCPP_PICKNIK_VERSION in the moveit_pro Dockerfile moves to it, on both main and v10.2.

🤖 Generated with Claude Code

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📝 Summary

Summary by CodeRabbit

• Bug Fixes
  • Subtrees with duplicate or empty names are now accepted and can execute successfully.
  • Removed errors for duplicate subtree paths; uniquely named subtrees continue to work as before.

The XML parser now accepts duplicate SubTree instance paths. Tests cover repeated names and an explicitly empty name, and verify that the resulting trees execute.

Changes: SubTree instance-name compatibility

Layer / File(s)	Summary
Accept duplicate and empty SubTree names src/xml_parsing.cpp, tests/gtest_subtree.cpp	The parser no longer rejects duplicate subtree paths. Tests verify successful creation and ticking for duplicate names and an empty name. The nested duplicate-name rejection test is removed.

Priority: ➖ Normal

Merge Risk: 🟡 Moderate · up to a4f0e

Trees with repeated SubTree names now load and run. Attaching a TreeObserver to one of these trees throws an error, which can break tooling that relies on the observer. Resolve this before merging or explicitly accept it.

Pre-merge checks: 4

Passed checks: 4 passed

Check name	Status	Explanation
Description check		The pull request description is complete and relevant. It explains the behavioral change, compatibility impact, affected MoveIt Pro objectives, test coverage, local validation results, and post-merge …
Linked Issues check		Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check		Check skipped because no linked issues were found for this pull request.
Human Review Check		The PR changes only src/xml_parsing.cpp and tests/gtest_subtree.cpp. It removes one duplicate-SubTree validation and updates focused tests. It does not change declarations, CI/CD, infrastructure, …

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Actionable comments posted: 1

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• 🪄 Fix comments: Fix CodeRabbit comments on this PR

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Inline comments:
Review comments at @src/xml_parsing.cpp:
- Around line 1117-1119: Update TreeObserver’s handling of node fullPath()
values so multiple SubTree instances with the same path do not trigger
LogicError; preserve observer support for trees containing shared paths.

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📥 Commits

Reviewing files that changed from the base of the PR and between f8a8fe7 and a4f0e1c.

📒 Files selected for processing: 2

• src/xml_parsing.cpp
• tests/gtest_subtree.cpp

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