Keep rmw_qos_profile_t for humble

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

Author: elsayedelsheikh

behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp

@@ -19,6 +19,7 @@
 #include <string>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/allocator/allocator_common.hpp>
+#include <rclcpp/version.h>
 #include <rclcpp/qos.hpp>
 #include "behaviortree_cpp/bt_factory.h"
 
@@ -217,8 +218,14 @@ inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   callback_executor.add_callback_group(callback_group, node->get_node_base_interface());
 
+  // For Jazzy and Later Support
+  #if RCLCPP_VERSION_GTE(28, 0, 0)
   service_client = node->create_client<T>(service_name, rclcpp::ServicesQoS(),
                                           callback_group);
+  #else
+  service_client = node->create_client<T>(service_name, rmw_qos_profile_services_default,
+                                          callback_group);
+  #endif
 }
 
 template <class T>