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First of all, I'm using Ubuntu 24.04, hence my reason to be using ROS2 in its jazzy distribution.

Back when I used ROS2 humble, I had a BTCPP tutorial that worked fine. Its repo is public and is in . I'll pass through how to run it properly in the end of the post.

I upgraded my Ubuntu to 24 and so I upgraded my ROS2 to jazzy too, and by doing that the tutorial stopped working. More specifically, the error "subscription already associated with a wait set" shows up. I've searched it and tried solving my own code to make it work on jazzy.

In my last breakthrough, I learned how to attach callback groups without automatically creating a wait set in it, and so now instead of getting an error, my behavior tree is failing, unlike the tutorial. I believe that the subscription in the condition node of my behavior tree is not being correctly created. This error is in my repo at .

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