BehaviorTree.CPP 4.6

This C++ 17 library provides a framework to create BehaviorTrees. It was designed to be flexible, easy to use, reactive and fast.

Even if our main use-case is robotics, you can use this library to build AI for games, or to replace Finite State Machines.

There are few features which make BehaviorTree.CPP unique, when compared to other implementations:

• It makes asynchronous Actions, i.e. non-blocking, a first-class citizen.

• You can build reactive behaviors that execute multiple Actions concurrently (orthogonality).

• Trees are defined using a Domain Specific scripting language (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is not hard-coded.

• You can statically link your custom TreeNodes or convert them into plugins and load them at run-time.

• It provides a type-safe and flexible mechanism to do Dataflow between Nodes of the Tree.

• It includes a logging/profiling infrastructure that allows the user to visualize, record, replay and analyze state transitions.

Documentation and Community

You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/

If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit our forum

GUI Editor

Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.

If you are looking for a more fancy graphical user interface (and I know you do) check Groot2 out.

How to compile

BT.CPP requires a compile that supports c++17.

Three build systems are supported:

• colcon (ament), if you use ROS2
• conan otherwise (Linux/Windows).
• straight cmake if you want to be personally responsible for dependencies :)

Compiling with conan:

Assuming that you are in the parent directory of BehaviorTree.CPP:

mkdir build; cd build
conan install ../BehaviorTree.CPP --output-folder=. --build=missing
cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE="conan_toolchain.cmake"
cmake --build . --parallel

If you have dependencies such as ZeroMQ and SQlite already installed and you don’t want to use conan, simply type:

mkdir build; cd build
cmake ../BehaviorTree.CPP
cmake --build . --parallel

If you want to build in a pixi project (conda virtual environment).

pixi run build

If you want to use BT.CPP in your application, please refer to the example here: https://github.com/BehaviorTree/btcpp_sample .

Commercial support

Are you using BT.CPP in your commercial product and do you need technical support / consulting? You can contact the primary author, dfaconti@aurynrobotics.com, to discuss your use case and needs.

Star History

Previous version

Version 3.8 of the software can be found in the branch v3.8.

That branch might receive bug fixes, but the new features will be implemented only in the master branch.

License

The MIT License (MIT)

Copyright (c) 2019-2023 Davide Faconti

Copyright (c) 2018-2019 Davide Faconti, Eurecat

Copyright (c) 2014-2018 Michele Colledanchise

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Changelog for package behaviortree_cpp

4.6.2 (2024-06-26)

• Initialize template variable [T out]{.title-ref} (#839)
• Building with a recent compiler fails due incompatible expected library (#833)
  • nonstd::expected updated to 0.8
• fix issue #829: support again custom JSON converters
• fix issue #834: enable minitrace
• allow multiple instances of the loggers

• fix issue

  #827

  verify <BehaviorTree> name

• add TickMonitorCallback
• Fix typo in FallbackNode constructor parameter name (#830)
• fix segfault and throw instead when manifest is nullptr
• Add in call to ament_export_targets. (#826)
• Contributors: Davide Faconti, S. Messerschmidt, Sharmin Ramli, avikus-seonghyeon.kwon

4.6.1 (2024-05-20)

• remove flatbuffers from public API and old file_logger
• fix issue #824: use global in Blackboard::set
• Add test for setting a global blackboard entry using a node's output port #823
• examples renamed
• Contributors: Davide Faconti, Robin Müller

4.6.0 (2024-04-28)

• add tutorial 19 about the global blackboard
• renamed examples to match website
• Update TestNode and the corresponding tutorial
• bug fixes related to sequence_id and unit tests added
• Add string concatenation operator to scripting (#802)
• Add library alias for BT::behaviortree_cpp (#808)
• add Time Stamped blackboard (#805)
• add additional information and functionality to SQLiteLogger
• add syntax for entries in the root blackboard ("@" prefix)
• Fix/pixi build (#791)
• fix unit tests in Windows
• fix windows compilation
• Update cmake_windows.yml
• Deprecate Balckboard::clear(). Issue #794
• Support string vector conversion for ports (#790)
• add more convertToString for integers
• warn about overwritten enums
• fix ambiguous to_json
• Extend unit test for blackboard backup to run the second tree (#789)
• json convertion changed and

• issue

  #755

  add backchaining test and change reactive nodes checks (#770)

• Update switch_node.h
• test moved and port remapping fixed
• Create pull_request_template.md
• adding pre-commit
• handle enums conversions is assignment
• Contributors: Davide Faconti, Sean Geles, Sebastian Castro, Victor Massagué Respall, avikus-seonghyeon.kwon, tony-p

4.5.2 (2024-03-07)

• bugfix: string to enum/integer/boolean in scripts
• bug fix in scripting comparison
• added more pretty-prints to demangler
• fixes and checks in default values, based on PR #773
• Initialize std::atomic_bool (#772)
• Fix issue #767 and #768
• updated default port syntax: "{=}"
• new default port capability: blackbard entries

• fix issue

  #757

  skipped nodes should not call post-condition ALWAYS

• Merge pull request #756 from imere/imere-patch-1
• fix(test): Typo in gtest_blackboard.cpp
• Contributors: Davide Faconti, Lu Z, Marq Rasmussen

4.5.1 (2024-01-23)

• Support enums and real numbers in Node Switch
• improve Any::castPtr and add example

• fix issue

  #748

  static error messages

• Merge pull request #746 from galou/snprintf Use snprintf instead of sprintf
• Use snprintf instead of sprintf
  • Augment the buffer size on doc error.
  • Let sprintf in switch_node.h since the max. string length is known.
• Contributors: Davide Faconti, Gaël Écorchard

4.5.0 (2024-01-10)

• fix typo in unit test #733
• allow Input/Output ports with type Any
• Merge pull request #703 from galou/export_xsd Implement writeTreeXSD() to generate an XSD
• Any::isType() will return the original type. Cherry picking from #708
• fix #734
• remove unneeded includes
• add Any::castPtr
• add alias KeyValueVector
• Merge pull request #730 from adlarkin/add_metadata Add optional metadata to TreeNodeManifest
• Contributors: Ashton Larkin, Davide Faconti, Gaël Écorchard

4.4.3 (2023-12-19)

• Merge pull request #709 from galou/unset_blackboard

• fix issue

  #725

  SetBlackboard can copy entries

• add more unit tests
• fix typos #721
• fix: guard macro declaration to prevent redefinition warning
• fix: Rename scoped lock so it doesn't hide the outer lock triggering a compiler warning
• add private ports to exclude from autoremapping #706
• fix issue #713: getNodesByPath should be const
• Contributors: Davide Faconti, Nestor Gonzalez, Tony Paulussen

4.4.2 (2023-11-28)

• fix issue

  #702

  output ports require {}

• Merge pull request #691 from galou/small_refactor_and_doc Small code refactor, log- and doc changes
• Merge pull request #701 from tony-p/fix/file-loggers-protected fix: ensure public get config overload is used
• ci: use pixi github action
• fix: ensure public get config overload is used
• Small code refactor, log- and doc changes
• Contributors: Davide Faconti, Gaël Écorchard, Tony Paulussen

4.4.1 (2023-11-12)

• erase server_port+1
• add reset by default in base classes (fix #694)
• fix issue #696 (wrong autoremapping)
• Remove traces of SequenceStar
• fix #685 (timeout in ZMP publisher)
• clang: fix warning fix warning: lambda capture 'this' is not used
• Use feature test macro to check availability of [std::from_chars]{.title-ref}
• fix warning in older compilers
• Contributors: Christoph Hertzberg, Davide Faconti, Gaël Écorchard, Shen Xingjian, Sid

4.4.0 (2023-10-16)

• Update ex05_subtree_model.cpp
• added any::stringToNumber
• added SubTree model example
• unit test for issue 660
• adding SubTree model
• minor changes
• change blackboard entry
• Update simple_string.hpp
• SimpleString: fix warning by checking upper size limit (#666)
• Contributors: Adam Boseley, Davide Faconti

4.3.8 (2023-10-09)

• ReactiveSequence and ReactiveFallback will behave more similarly to 3.8
• bug fix in wakeUpSignal
• ignore newlines in script
• stop ordering ports in TreeNodesModel
• add a specific tutorial for plugins
• Contributors: Davide Faconti

4.3.7 (2023-09-12)

• Test and fix issue #653: AnyTypeAllowed by default
• more time margin for Windows tests
• Add support for successful conda builds (#650)
• fix: Update how unit tests are executed in the github workflow so they are actually run on windows (#647)
• Add unit test related to SequenceWithMemory #636
• Contributors: Davide Faconti, tony-p

4.3.6 (2023-08-31)

• Simplify the visualization of custom type in Groot2 and improved tutorial 12
• fix compilation warnings
• Apply changes in ReactiveSequence to ReactiveFallback too
• test that logging works correctly with ReactiveSequence #643
• reduce the number of times preconditions scripts are executed
• PauseWithRetry test added
• Contributors: Davide Faconti

4.3.5 (2023-08-14)

• fix issue #621: ConsumeQueue
• feat: add template specialization for convertFromString deque (#628)
• unit test added
• Update groot2_publisher.h (#630)
• unit test issue #629
• WhileDoElseNode can have 2 or 3 children (#625)

• fix issue

  #624

  add TimeoutNode::halt()

• fix recording_fist_time issue on windows (#618)
• Contributors: Aglargil, Davide Faconti, Michael Terzer, benyamin saedi, muritane

4.3.4 (2023-07-25)

• Fix error #617 in TestNode
• minitrace updated
• fix issue #615 : don't execute preconditions if state is RUNNING
• README.md
• fix issue #605: strip whitespaces and better error message
• Export cxx-standard with target. (#604)
• feature #603: add static method [std::string description()] to manifest
• fix issue with move semantic
• Contributors: Davide Faconti, Sebastian Kasperski

4.3.3 (2023-07-05)

• bug fix #601: onHalted not called correctly in Control Nodes
• Groot recording (#598)
  • add recording to groot publisher
  • fixed
  • protocols compatibility
  • reply with first timestamp
  • remove prints
• Fix error when building static library (#599)
• fix warnings
• 4.3.2
• prepare release

• fix

  #595

  improvement in blackboard/scripting types (#597)

• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
• Merge branch 'parallel_all'
• Fix Issue 593 (#594): support skipping in Parallel node
• fix ParallelAll
• adding ParallelAll, WIP
• Contributors: Davide Faconti, Oleksandr Perepadia

4.3.2 (2023-06-27)

• fix

  #595

  improvement in blackboard/scripting types (#597)

• Fix Issue 593 (#594): support skipping in Parallel node
• adding ParallelAll
• Contributors: Davide Faconti

4.3.1 (2023-06-21)

• fix issue #592
• use lambda in tutorial
• add script condition
• "fix" issue #587: ReactiveSequence should set conditions to IDLE
• better error message
• Fix issue #585
• Contributors: Davide Faconti

4.3.0 (2023-06-13)

• use PImpl in multiple classes
• updated FileLogger2
• better error messages
• blackboard refactoring to fix buggy _autoremap
• improved support for default values
• fix error and add nodiscard

• Fix

  #580

  more informative error when not specializing BT::toStr

• add builtin models to WriteTreeToXML
• add simple example to generate logs
• add Sleep Node
• Fix #271: better error message
• remove EOL ros2 from CI
• Contributors: Davide Faconti

4.2.1 (2023-06-07)

• Fix #570: string_view set in blackboard
• Fix missing attribute in generated XML (writeTreeNodesModelXML)
• Allow registration of TestNode
• Contributors: Davide Faconti, Oleksandr Perepadia

4.2.0 (2023-05-23)

• add more informative IDLE status
• more informative error message when trying to register virtual classes
• fixes and simpler getAnyLocked
• add Tree::getNodesByPath
• add FileLogger2
• change getPortAny name and fic loop_node
• Lexy updated to release 2022.12.1
• do not skip pre-post condition in substituted tick
• added Loop node
• deprecating getAny
• revert new behavior of Sequence and Fallback
• add resetChild to all the decorators that missed it
• Add test related to issue #539
• related to #555
• Critical bug fix in XML exporting
• Fix writeTreeNodesModelXML
• fix ament not registering executables as tests
• fix std::system_error in TimeoutNode
• minor changes, mostly comments
• add version string
• old ZMQ publisher removed
• Add RunOnce, based on #472
• Contributors: Alberto Soragna, Davide Faconti, Gaël Écorchard, Mithun Kinarullathil, Sergei Molchanov

4.1.1 (2023-03-29)

• adding sqlite logger
• fix warning
• better cmake
• ManualSelector removed
• magic_enum updated
• fix issue #530: use convertFromString in scripting assignments
• added unit test
• files moved
• fix groot2 publisher
• minor fixes in blackboard
• fix XML: Subtree should remember the remapped ports
• add the ability to load substitution rules from JSON
• Update README.md
• Contributors: Davide Faconti

4.1.0 (2023-03-18)

• temporary disable codeql
• Groot2 interface (#528)
  • refactored groot2 interface
  • protocol updated
• merging groot2 publisher
• add observer
• prepare 4.1
• Update README.md
• fix issue #525 when ReactiveSequence contains skipped children
• fix reactive sequence (issue #526 and #525)
• better test
• add cast to ENUMS in ports
• changes ported from 4.1
• fix samples
• better include paths
• Control node and Decorators RUNNING before first child
• blackboard: update getKeys and add mutex to scripting
• add [[nodiscard]] and some othe minor changes
• add screenshot
• change the behavior of tickOnce to actually loop is wake up signal is… (#522)
  • change the behavior of tickOnce to actually loop is wake up signal is received
  • fix warning
• Cmake conan (#521)
  • boost coroutine substituted with minicoro. 3rd party updates
  • cmake refactoring + conan
  • fix cmake
  • fix build with conan and change CI
• fix CI in ROS1 (#519)
• fix alloc-dealloc-mismatch for _storage.str.data (#518)
• Fix issue #515: reactive sequence not skipped correctly
• Fix issue #517
• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
• fix issue #492 (Threads::Threads)
• Fix boost dependency in package.xml (#512) [libboost-coroutine-dev]{.title-ref} has been merged into rosdistro on February 21st
  1. Link to merge request: https://github.com/ros/rosdistro/pull/35789/.
• fix compilation
• revert breaking change
• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
• make default value of port optional, to allow empty strings
• Contributors: Alberto Soragna, Bart Keulen, Davide Faconti

4.0.2 (2023-02-17)

• fix issue #501
• fix issue #505
• solve issue #506
• prevent useless exception catcking
• fix issue #507
• adding the uid to the log to uniquely identify the nodes (#502)
• fix in SharedLibrary and cosmetic changes to the code
• using tinyxml ErrorStr() instead of ErrorName() to get more info about missing file (#497)
• Fixed use of ros_pkg for ROS1 applications (#483)
• Fix error message StdCoutLogger -> MinitraceLogger (#495)
• Fix boost dependency in package.xml (#493) Co-authored-by: Bart Keulen <<b.keulen@avular.com>>
• support Enums in string conversion
• fix issue 489
• updated example. Demonstrate pass by reference
• lexy updated
• rename haltChildren to resetChildren
• revert #329
• Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP
• Small improvements (#479) * Make message for allowed port names more explicit Also throw an exception for unknown port direction rather than using [PortDirection::INOUT]{.title-ref}.
  • Small code improvements
  • Remove code without effect
• Fix some renaming for V4 (#480)
• Define NodeConfiguration for BT3 compatibility (#477)
• Implement #404 to solve #435 (gtest not found)
• fix issue #474 Make libraries dependencies private
• fix issue #413 (Delay logic)
• change suggested in #444
• add XML converter
• Add CodeQL workflow (#471)
• Update README.md
• Contributors: Ana, Bart Keulen, Christian Henkel, Davide Faconti, Gaël Écorchard, Jorge, Mahmoud Farshbafdoustar, Norawit Nangsue

4.0.1 (2022-11-19)

• version 4.X
• Contributors: Adam Aposhian, Adam Sasine, Alberto Soragna, Ali Aydın KÜÇÜKÇÖLLÜ, AndyZe, Davide Faconti, Dennis, Gaël Écorchard, Jafar, Joseph Schornak, Luca Bonamini, Paul Bovbel, SubaruArai, 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]{.title-ref} (#342)
• ROS2 include ros_pkg attribute support (#351)
  • ROS2 include pkg support

  * ros2 build fixed Co-authored-by: Benjamin Linne <<benjamin.linne.civ@army.mil>>

• [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 <<ImgBotHelp@gmail.com>>
• [Docs] BT_basics fix typo (#343)
• [docs] Clarify sentence (#344) [... will sleep up to 8 hours or less, if he/she is fully rested.]{.title-ref} was not clear. It can also be understood as [If he/she is fully rested, the character will sleep ...]{.title-ref}
• [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 <<cfulton@symbotic.com>>
• Add ENABLE_COROUTINES CMake option (#316)
  • Add DISABLE_COROUTINES CMake option

  * Change convention of CMake coroutine flag to ENABLE Co-authored-by: Cam Fulton <<cfulton@symbotic.com>>

• [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 <<ImgBotHelp@gmail.com>>
• doc fix
• Merge branch 'new_doc'
• remove deprecated code
• updated documentation
• [Fix] Fix cmake version warning and -Wformat warning (#319) Co-authored-by: Homalozoa <<xuhaiwang@xiaomi.com>>
• 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]{.title-ref} to [the_answer]{.title-ref}
• 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 <<jinwoos.choi@samsung.com>>

• 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 <<francesco.vigni@sttech.de>>
• 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)

• fix issue #227
• fix issue #256
• Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
• fix issue #250
• Fixed typos on SequenceNode.md (#254)
• Contributors: Davide Faconti, LucasNolasco

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 <<valerio.magnago@fraunhofer.it>>
• 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 <<cfulton@symbotic.com>> Co-authored-by: Davide Faconti <<davide.faconti@gmail.com>>

• 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 <<indraneel.p@greyorange.com>>

• 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 std::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]{.title-ref} 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, daf@blue-ocean-robotics.com
• 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, daf@blue-ocean-robotics.com

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 <<uilianries@gmail.com>>
• 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