When I implemented the override of void registerNodesIntoFactory(BT::BehaviorTreeFactory& factory), I wrote it like this:

BT::RosNodeParams params;
params.nh = std::dynamic_pointer_cast<rclcpp::Node>(nodeBaseInterface());

This caused the following exceptions during tree construction:

[ERROR] [1715013001.175801122] [bt_action_server]: Behavior Tree exception:bad_weak_ptr

[ERROR] [1715013002.693655469] [bt_action_server]: Behavior Tree exception:The ROS node went out of scope. RosNodeParams doesn't take the ownership of the node.

Instead, when I changed the API to directly assign rclcpp::Node::SharedPtr to nh, it worked perfectly.
Why doesn't TreeExecutionServer directly expose rclcpp::Node::SharedPtr?
If there are no issues, I would like to add an API to directly exposerclcpp::Node::SharedPtr.