When any of our 3 different scrum teams (different boards) creates a subtask from a story that is already associated with their team, the sub-tasks are NOT associated with any team, so they don't automatically appear on the board.
Is there a way to automatically make the subtasks that are created from the story to inherit the scrum team, so they don't to manually assign every subtask they create?
I assume that by 'Associate' you mean either assign a sub-task to a specific user or set a specific value to a custom field.
In any case, basically what you need is a post function on your sub-task's 'Create' transition, that would check the parent issue, check to whom it "belongs" (my guess is that you have a custom field, that holds a team's name as its value) and then copy that value to a similar field in your sub-task.
Unfortunately this can't be done out of the box, however there are multiple plug-ins that will allow you to automate this. If you could specify your case further (how exactly do you assign issues to teams, how do you want this to work, etc) I could probably recommend a more specific solution.
Yes, by "associate", i mean automatically make the subtask have the same "Scrum Team" (this is a field we have) as the parent story. It's kind of crazy to me that story tasks, sub-tasks don't just inherit that.
The teams assign issues themselves. They will either create a new story and assign it to their own team, or we will triage a bug and assign it to one of the teams (manually by choosing the "Scrum Team" field.
Ok, In this case I suggest looking at JMWE add-on. Among other things, it has a built-in post function that allows you to copy field value from one issue to another (parent to sub-task, sub-task to parent, linked issues, etc). So basically all you'll need to do is set this post function on your sub-task's 'Create' transition, and make it copy 'Scrum team' field value from parent issue.
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