template <class DerivedT> static
  void RegisterRosAction(BT::BehaviorTreeFactory& factory,
                         const std::string& registration_ID,
                         ros::NodeHandle& node_handle,
                         const std::string& default_server_name = {} )
{
  NodeBuilder builder = [&node_handle, default_server_name](const std::string& name, const NodeConfiguration& config)
  {
    auto name_it = config.input_ports.find("server_name");
    // The server_name passed as port has priority over the default_server_name
    if( !default_server_name.empty() && name_it->second.empty() )
    {
      auto new_config = config;
      new_config.input_ports["server_name"] = default_server_name;
      return std::make_unique<DerivedT>(node_handle, name, new_config );
    }
    else{
      return std::make_unique<DerivedT>(node_handle, name, config );
    }

  };

  TreeNodeManifest manifest;
  manifest.type = getType<DerivedT>();
  manifest.ports = DerivedT::providedPorts();
  manifest.registration_ID = registration_ID;
  const auto& basic_ports = RosActionNode< typename DerivedT::ActionType>::providedPorts();
  manifest.ports.insert( basic_ports.begin(), basic_ports.end() );
  factory.registerBuilder( manifest, builder );
}