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fix(behaviortree_ros2): use groot2_port for the legacy debugger ports - #2
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groot2_port was passed as the message rate of PublisherZMQ, so every executor bound the default ports 1666 and 1667 and a second executor on the same host aborted every goal with 'Address already in use'. Use groot2_port as the server port and groot2_port - 1 as the publisher port; the default 1667 keeps 1666 and 1667. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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groot2_port was passed as the message rate of PublisherZMQ, so every executor bound the default ports 1666 and 1667 and a second executor on the same host aborted every goal with 'Address already in use'. Use groot2_port as the server port and groot2_port - 1 as the publisher port; the default 1667 keeps 1666 and 1667.