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Changelog for package behaviortree_cpp

3.8.0 (2022-10-11)

  • tickRootWhileRunning method
  • Fix: PublisherZMQ::flush is called after the publisher has been destructed (#426) * fix: PublisherZMQ::flush is called after the publisher has been destructed * style: Adjust code formatting of ~PublisherZMQ * chore: Install zmq-dev in ubuntu pipeline and exclude gtest_logger_zmq.cpp when zmq is not found. * chore: Define WIN32_LEAN_AND_MEAN to avoid ambiguity between tinyxml and msxml
  • fix missing closing brace in unit test (#442)
  • Fix incorrect registration of behavior trees containing faulty XML (#438) * fix incorrect registration of faulty trees * format * simplify XML validation * fix possible out-of-range exception in tests * Add tests * reduce scale of diffs * fix comment * add more test cases Co-authored-by: Davide Faconti <[email protected]>
  • Add functionality to clear registered behavior trees. (#439) Co-authored-by: Jere Liukkonen <[email protected]>
  • Wait for the thread to finish before deleting zmq (#440) Co-authored-by: JafarAbdi <[email protected]>
  • clang form at
  • clang format
  • new clang format
  • Moving tinyxml2 to 3rdparty
  • Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
  • backporting changes from v4.x
  • Update README.md
  • fix warnings
  • Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
  • fix issue #433
  • Added ros_environment dependency to make sure ROS_VERSION is initialized (#420)
  • Added XML validation for decorators without children (#424) * Added unit tests to demonstrate failure * Added validation that decorators have only one child
  • Update expected-lite to 0.6.2 (#418)
  • fix test
  • parallel node fix
  • threshold child count dynamically in parallel control node (#363)
  • Adding the reserved word "_description" (#394)
  • fix(README): change find_package() instruction for BT external usage (#401) Co-authored-by: Luca Bonamini <[email protected]>
  • Example suggests it's not restricted to a few (#414) * Example suggests it's not restricted to a few * Update delay_node.h Fix flow of sentence, milliseconds is already put in specification.
  • documentation and doc correction
  • Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
  • improve writeTreeNodesModelXML
  • Shutdown zmq context after joining the server thread and flushing (#400)
  • Update README.md
  • add option to conditionally build manual selector node (#397) * add option to conditionally build manual selector node * do not fail if BUILD_MANUAL_SELECTOR is true but Curses is not found
  • remove variables that depend on CMAKE_BINARY_DIR being set (#398) * remove variables that depend on CMAKE_BINARY_DIR being set * Update cmake.yml
  • Small comments on node registration (#399)
  • Fix destination in CMakeLists.txt (#389)
  • Contributors: Adam Sasine, Alberto Soragna, AndyZe, Davide Faconti, Dennis, Gaël Écorchard, Jafar, Joseph Schornak, Luca Bonamini, Paul Bovbel, Tim Clephas, Will

3.7.0 (2022-05-23)

  • add netlify stuff
  • Event based trigger introduced Added a new mechanism to emit "state changed" events that can "wake up" a tree. In short, it just provide an interruptible "sleep" function.
  • Fixed bug where including relative paths would fail to find the correct file (#358) * Added unit tests to verify current behavior * Fixed bug where including relative paths would fail to find the correct file * Added gtest environment to access executable path This path lets tests access files relative to the executable for better transportability * Changed file commandto add_custom_target The file command only copies during the cmake configure step. If source files change, file is not ran again
  • Added pure CMake action to PR checks (#378) * Added CMake CI to PR checks * Renamed action to follow pattern
  • updated documentation
  • add the ability to register multiple BTs (#373)
  • Update ros1.yaml
  • fix #338
  • fix issue #330
  • fix issue #360
  • Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
  • Update Tutorial 2 Docuemtation (#372)
  • Update tutorial_09_coroutines.md (#359) Minor fix, renamed Timepoint to TimePoint.
  • Export dependency on ament_index_cpp (#362) To make dependent packages try to link ament_index_cpp, export the dependency explicitly.
  • Change order of lock to prevent deadlock. (#368) Resolves #367.
  • Fix #320 : forbit refrences in Any
  • Update action_node.h
  • Contributors: Adam Sasine, Davide Faconti, Fabian Schurig, Griswald Brooks, Hyeongsik Min, Robodrome, imgbot[bot], panwauu

3.6.1 (2022-03-06)

  • remove windows tests
  • fix thread safety
  • fix CI
  • Don't restart SequenceStar on halt (#329) * Add more SequenceStar tests * Fix typo in test name * Don't reset SequenceStar on halt
  • [docs] add missing node SmashDoor (#342)
  • ROS2 include ros_pkg attribute support (#351) * ROS2 include pkg support * ros2 build fixed Co-authored-by: Benjamin Linne <[email protected]>
  • [ImgBot] Optimize images (#334) *Total -- 90.34kb -> 61.77kb (31.63%) /docs/images/Tutorial1.svg -- 10.08kb -> 6.33kb (37.19%) /docs/images/FetchBeerFails.svg -- 9.00kb -> 5.93kb (34.13%) /docs/images/FetchBeer2.svg -- 21.19kb -> 14.41kb (32%) /docs/images/Tutorial2.svg -- 34.19kb -> 23.75kb (30.54%) /docs/images/DecoratorEnterRoom.svg -- 15.88kb -> 11.35kb (28.54%) Co-authored-by: ImgBotApp <[email protected]>
  • [Docs] BT_basics fix typo (#343)
  • [docs] Clarify sentence (#344) ... will sleep up to 8 hours or less, if he/she is fully rested. was not clear. It can also be understood as If he/she is fully rested, the character will sleep ...
  • [docs] match text to graphics (#340)
  • Docs: BT_basics fix typo (#337)
  • Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
  • fix svg
  • Fix CMake ENABLE_COROUTINES flag with Boost < 1.59 (#335) Co-authored-by: Cam Fulton <[email protected]>
  • Add ENABLE_COROUTINES CMake option (#316) * Add DISABLE_COROUTINES CMake option * Change convention of CMake coroutine flag to ENABLE Co-authored-by: Cam Fulton <[email protected]>
  • [ImgBot] Optimize images (#333) *Total -- 152.97kb -> 114.57kb (25.1%) /docs/images/ReactiveSequence.svg -- 7.58kb -> 4.59kb (39.47%) /docs/images/SequenceNode.svg -- 11.28kb -> 7.12kb (36.87%) /docs/images/SequenceStar.svg -- 11.22kb -> 7.09kb (36.8%) /docs/images/DecoratorEnterRoom.svg -- 20.71kb -> 13.30kb (35.77%) /docs/images/FallbackBasic.svg -- 19.09kb -> 12.64kb (33.79%) /docs/images/FetchBeer.svg -- 24.30kb -> 16.36kb (32.66%) /docs/images/SequenceBasic.svg -- 6.32kb -> 5.49kb (13.04%) /docs/images/Tutorial1.svg -- 6.67kb -> 5.94kb (10.98%) /docs/images/FetchBeerFails.svg -- 6.46kb -> 5.83kb (9.76%) /docs/images/FetchBeer2.svg -- 14.99kb -> 13.76kb (8.18%) /docs/images/Tutorial2.svg -- 24.35kb -> 22.44kb (7.85%) Co-authored-by: ImgBotApp <[email protected]>
  • doc fix
  • Merge branch 'new_doc'
  • remove deprecated code
  • updated documentation
  • [Fix] Fix cmake version warning and -Wformat warning (#319) Co-authored-by: Homalozoa <[email protected]>
  • Update README.md
  • Fix Windows shared lib build (#323)
  • fix shadowed variable in string_view.hpp (#327)
  • Build Sample Nodes By Default to Fix Github Action (#332) * Fix github action * Change working directory in github action step * Build samples by default
  • Added BlackboardCheckBool decorator node (#326) * Added tests for BlackboardCheck decorator node * Added BlackboardCheckBool decorator node
  • Fixed typo "Exeption" -> "Exception" (#331)
  • WIP
  • fix #325
  • Contributors: Adam Sasine, Affonso, Guilherme, Alberto Soragna, Davide Faconti, Homalozoa X, Jake Keller, Philippe Couvignou, Tobias Fischer, benjinne, fultoncjb, goekce, imgbot[bot]

3.6.0 (2021-11-10)

  • Build samples independently of examples (#315)
  • Fix dependency in package.xml (#313)
  • Fix doc statement (#309) Fix sentence
  • Fix references to RetryUntilSuccesful (#308) * Fix github action * Fix references to RetryUntilSuccesful
  • added subclass RetryNodeTypo (#295) Co-authored-by: Subaru Arai <SubaruArai@local>
  • Fix github action (#302)
  • Minor spelling correction (#305) Corrected the_aswer to the_answer
  • Update FallbackNode.md (#306) typo correction.
  • Add signal handler for Windows (#307)
  • fix
  • file renamed and documentation fixed
  • Update documentation for reactive sequence (#286)
  • Update FallbackNode.md (#287) Fix the pseudocode in the documentation of 'Reactive Fallback' according to its source code.
  • Update fallback documentation to V3 (#288) * Update FallbackNode.md description to V3 * Fix typo
  • Use pedantic for non MSVC builds (#289)
  • Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
  • updated to latest flatbuffers
  • Update README.md
  • Fix issue #273
  • remove potential crash when an unfinished tree throws an exception
  • remove appveyor
  • Merge branch 'git_actions'
  • Fixes for compilation on windows. (#248) * Fix for detecting ZeroMQ on windows Naming convention is a bit different for ZeroMQ, specifically on Windows with vcpkg. While ZMQ and ZeroMQ are valid on linux, the ZMQ naming convention only works on linux. * Compilation on windows not working with /WX * Macro collision on Windows On windows, the macros defined in the abstract logger collides with other in windows.h. Made them lowercase to avoid collision
  • Remove native support for Conan (#280)
  • add github workflow
  • Registered missing dummy nodes for examples (#275) * Added CheckTemperature dummy node * Added SayHello dummy node
  • add zmq.hpp in 3rdparty dirfectory
  • add test
  • fix some warnings
  • Fix bug on halt of delay node (#272) - When DelayNode is halted and ticked again, it always returned FAILURE since the state of DelayNode was not properly reset. - This commit fixes unexpected behavior of DelayNode when it is halted. Co-authored-by: Jinwoo Choi <[email protected]>
  • Clear all of blackboard's content (#269)
  • Added printTreeRecursively overload with ostream parameter (#264) * Added overload to printTreeRecursively * Changed include to iosfwd * Added test to verify function writes to stream * Added call to overload without stream parameter * Fixed conversion error * Removed overload in favor of default argument
  • Fix typo (#260) Co-authored-by: Francesco Vigni <[email protected]>
  • Update README.md
  • abstract_logger.h: fixed a typo (#257)
  • Contributors: Adam Sasine, Affonso, Guilherme, Akash, Billy, Cong Liu, Daisuke Nishimatsu, Davide Faconti, Francesco Vigni, Heben, Jake Keller, Per-Arne Andersen, Ross Weir, Steve Macenski, SubaruArai, Taehyeon, Uilian Ries, Yadu, Yuwei Liang, matthews-jca, swarajpeppermint

3.5.6 (2021-02-03)

3.5.5 (2021-01-27)

  • fix issue #251
  • Contributors: Davide Faconti

3.5.4 (2020-12-10)

  • Update bt_factory.cpp (#245)
  • Use the latest version of zmq.hpp
  • Improved switching BTs with active Groot monitoring (ZMQ logger destruction) (#244) * Skip 100ms (max) wait for detached thread * add {} to single line if statements
  • Update retry_node.cpp
  • fix
  • fix issue #230
  • Contributors: Davide Faconti, Florian Gramß, amangiat88

3.5.3 (2020-09-10)

  • fix issue #228 . Retry and Repeat node need to halt the child
  • better tutorial
  • Contributors: Davide Faconti

3.5.2 (2020-09-02)

  • fix warning and follow coding standard
  • docs: Small changes to tutorial 02 (#225) Co-authored-by: Valerio Magnago <[email protected]>
  • Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
  • tutorial 1 fixed
  • decreasing warning level to fix issue #220
  • fix compilation
  • Allow BT factory to define clock source for TimerQueue/TimerNode (#215) * Allow BT factory to define clock source for TimerQueue/TimerNode * Fix unit tests Co-authored-by: Cam Fulton <[email protected]> Co-authored-by: Davide Faconti <[email protected]>
  • Added delay node and wait for enter keypress node (#182) * Added delay node and wait for enter press node * Fixed unsigned int to int conversion bug * Added a new timer to keep a track of delay timeout and return RUNNING in the meanwhile * Removed wait for keypress node * Review changes suggested by gramss Co-authored-by: Indraneel Patil <[email protected]>
  • Update SequenceNode.md (#211)
  • add failure threshold to parallel node with tests (#216)
  • Update tutorial_05_subtrees.md I believe that the API has been updated. Reflecting the same in this tutorial.
  • Contributors: Aayush Naik, Davide Faconti, Indraneel Patil, Renan Salles, Valerio Magnago, Wuqiqi123, fultoncjb

3.5.1 (2020-06-11)

  • trying to fix compilation in eloquent Minor fix on line 19
  • Update README.md
  • more badges
  • readme updated
  • fix ros2 compilation?
  • move to github actions
  • replace dot by zero in boost version (#197)
  • Always use nonstd::string_view for binary compatibility (fix issue #200)
  • Adding ForceRunningNode Decorator (#192)
  • updated doc
  • Add XML parsing support for custom Control Nodes (#194)
  • Fix typo
  • [Windows] Compare std::type_info objects to check type. (#181)
  • Fix pseudocode for ReactiveFallback. (#191)
  • Contributors: Aayush Naik, Darío Hereñú, Davide Faconti, Francisco Martín Rico, G.Doisy, Sarathkrishnan Ramesh, Sean Yen, Ting Chang

3.5.0 (2020-05-14)

  • added IfThenElse and WhileDoElse
  • issue #190
  • unit test added
  • reverting to a better solution
  • RemappedSubTree added
  • Fix issue #188
  • added function const std::string& key (issue #183)
  • Contributors: Davide Faconti, [email protected]
  • added IfThenElse and WhileDoElse
  • issue #190
  • unit test added
  • reverting to a better solution
  • RemappedSubTree added
  • Fix issue #188
  • added function const std::string& key (issue #183)
  • Contributors: Davide Faconti, [email protected]

3.1.1 (2019-11-10)

  • fix samples compilation (hopefully)
  • Contributors: Davide Faconti

3.1.0 (2019-10-30)

  • Error message corrected
  • fix windows and mingw compilation (?)
  • Merge pull request #70 from Masadow/patch-3 Added 32bits compilation configuration for msvc
  • make Tree non copyable
  • fix #114
  • Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
  • critical bug fix affecting AsyncActionNode When a Tree is copied, all the thread related to AsyncActionNode where invoked. As a consequence, they are never executed, despite the fact that the value RUNNING is returned.
  • Fix issue #109
  • fix #111
  • Merge pull request #108 from daniel-serrano/add-RobMoSys-acknowledgement Add robmosys acknowledgement
  • Add robomosys acknowledgement as requested
  • Add robomosys acknowledgement as requested
  • added more comments (issue #102)
  • Update README.md
  • Add files via upload
  • Merge pull request #96 from LoyVanBeek/patch-1 Fix typo
  • Update tutorial_04_sequence_star.md
  • fix compilation
  • removing backward_cpp Motivation: backward_cpp is SUPER useful, but it is a library to use at the application level. It makes no sense to add it at the library level.
  • Merge pull request #95 from LoyVanBeek/patch-1 Remove 0 in front of http://... URL to publication
  • Remove 0 in front of http://... URL to publication Hopefully, this makes the link correctly click-able when rendered to HTML
  • fix issue #84 (Directories)
  • add infinite loop to Repeat and Retry (issue #80)
  • fix unit test
  • issue #82
  • fix issue #82
  • Added 32bits compilation configuration for msvc
  • Contributors: Daniel Serrano, Davide Facont, Davide Faconti, Jimmy Delas, Loy

3.0.7 (2019-04-02)

  • this should fix issue with tinyXML2 once and for all (maybe...)
  • improvement #79
  • doc fix
  • Deprecating <remap> tag in SubTree
  • fix windows compilation
  • Update README.md
  • back to c++11
  • Contributors: Davide Faconti, Ferran Roure

3.0.4 (2019-03-19)

  • fix issue #72 with sibling subtrees
  • Update .travis.yml
  • Contributors: Davide Faconti

3.0.3 (2019-03-12)

  • moving to C++14... deal with it
  • updated tinyXML2. Should fix several issues too
  • add "d" to debug library on Windows
  • fixed compilation error on Windows x64 (issue #63)
  • Improved MSVC compilation Added _CRT_SECURE_NO_WARNINGS flag for msvc compilation
  • adding TreeNode::modifyPortsRemapping that might be useful in the future
  • Merge pull request #64 from luminize/patch-1 docs/xml_format.md
  • Merge pull request #65 from luminize/patch-2 docs/tutorial_01_first_tree.md: fix typo
  • docs/tutorial_01_first_tree.md: fix typo
  • fix compilation in Windows/Release
  • remove a warning in Windows
  • Update README.md
  • Merge branch 'windows_compilation'
  • fix issue #63 : compile on windows
  • Update .travis.yml
  • Create .appveyor.yml
  • fix compilation on windows
  • fix potential issue
  • bug fix
  • Update README.md
  • Contributors: Bas de Bruijn, Davide Faconti, Jimmy Delas, hlzl

3.0.2 (2019-03-04)

  • make flatbuffers visible to other project (such as Groot)
  • docs fix
  • Contributors: Davide Faconti

3.0.0 (2019-02-27)

  • Merge branch 'ver_3'. Too many changes to count...
  • Contributors: Davide Facont, Davide Faconti, ImgBotApp, Victor Lopez

2.5.1 (2019-01-14)

  • fix installation directory
  • #39 Fix Conan version (#42) Signed-off-by: Uilian Ries <[email protected]>
  • Update .travis.yml
  • Conan package distribution (#39)
  • Non-functional refactoring of xml_parsing to clean up the code
  • cosmetic changes in the code of BehaviorTreeFactory
  • XML schema. Related to enchancement #40
  • call setRegistrationName() for built-in Nodes The methos is called by BehaviorTreefactory, therefore it registrationName is empty if trees are created programmatically.
  • Reset reference count when destroying logger (issue #38)
  • Contributors: Davide Facont, Davide Faconti, Uilian Ries

2.5.0 (2018-12-12)

  • Introducing SyncActionNode that is more self explaining and less ambiguous
  • fix potential problem related to ControlNode::haltChildren()
  • Adding example/test of navigation and recovery behavior. Related to issue #36
  • Contributors: Davide Faconti

2.4.4 (2018-12-12)

  • adding virtual TreeNode::onInit() [issue #33]
  • fix issue #34 : if you don't implement convertFromString, it will compile but it may throw
  • Pretty demangled names and obsolate comments removed
  • bug fixes
  • more comments
  • [enhancement #32]: add CoroActionNode and rename ActionNode as "AsynActionNode" The name ActionNode was confusing and it has been deprecated.
  • Update README.md
  • removed old file
  • Fix issue #31 : convertFromString mandatory for TreeNode::getParam, not Blackboard::get
  • Cherry piking changes from PR #19 which solve issue #2 CONAN support
  • Contributors: Davide Faconti

2.4.3 (2018-12-07)

  • Merge branch 'master' into ros2
  • removed old file
  • Fix issue #31 : convertFromString mandatory for TreeNode::getParam, not Blackboard::get
  • 2.4.3
  • version bump
  • Merge pull request #30 from nuclearsandwich/patch-1 Fix typo in package name.
  • Remove extra find_package(ament_cmake_gtest). This package should only be needed if BUILD_TESTING is on and is find_package'd below if ament_cmake is found and BUILD_TESTING is on.
  • Fix typo in package name.
  • added video to readme
  • Cherry piking changes from PR #19 which solve issue #2 CONAN support
  • Merge pull request #29 from nuclearsandwich/ament-gtest-dep Add test dependency on ament_cmake_gtest.
  • Add test dependency on ament_cmake_gtest.
  • fix travis removing CI
  • Contributors: Davide Faconti, Steven! Ragnarök

2.4.2 (2018-12-05)

  • support ament
  • change to ament
  • Contributors: Davide Faconti

2.4.1 (2018-12-05)

  • fix warnings and dependencies in ROS, mainly related to ZMQ
  • Contributors: Davide Faconti

2.4.0 (2018-12-05)

  • Merge pull request #27 from mjeronimo/bt-12-4-2018 Add support for ament/colcon build
  • updated documentation
  • Merge pull request #25 from BehaviorTree/include_xml Add the ability to include an XML from another one
  • <include> supports ROS package getPath (issue #17)
  • Trying to fix writeXML (issue #24)
  • New feature: include XMl from other XMLs (issue #17)
  • more verbose error message
  • adding unit tests for Repeat and Retry nodes #23
  • Bug fix in Retry and Repeat Decorators (needs unit test)
  • Throw if the parameter in blackboard can't be read
  • Try to prevent error #22 in user code
  • changed the protocol of the XML
  • fixing issue #22
  • Contributors: Davide Faconti, Michael Jeronimo

2.3.0 (2018-11-28)

  • Fix: registerBuilder did not register the manifest. It was "broken" as public API method
  • Use the Pimpl idiom to hide zmq from the header file
  • move header of minitrace in the cpp file
  • Fixed a crash occuring when you didn't initialized a Tree object (#20)
  • Fix issue #16
  • add ParallelNode to pre-registered entries in factory (issue #13)
  • removed M_PI
  • Update the documentation
  • Contributors: Davide Faconti, Jimmy Delas

2.2.0 (2018-11-20)

  • fix typo
  • method contains() added to BlackBoard
  • back compatible API change to improve the wrapping of legacy code (issue #15) Eventually, SimpleAction, SimpleDecorators and SimpleCondition can use blackboard and NodeParameters too.
  • reduce potential memory allocations using string_view
  • fix important issue with SubtreeNode
  • Read at every tick the parameter if Blackboard is used
  • Adding NodeParameters to ParallelNode
  • travis update
  • merge pull request #14 related to #10 (with some minor changes)
  • Fix issue #8 and warning reported in #4 Fixed problem of visibility with TinyXML2
  • Contributors: Davide Faconti, Uilian Ries

2.1.0 (2018-11-16)

  • version 2.1. New directory structure
  • Contributors: Davide Faconti