BehaviorTree.CPP

This C++ 14 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 in your application.

There are few features that 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.

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

• You can statically link your custom TreeNodes or convert them into plugins which can be loaded 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.

• Last but not least: it is well documented!

Documentation

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

To find more details about the conceptual ideas that make this implementation different from others, you can read the final deliverable of the project MOOD2Be.

Forum and Community

If the documentation doesn’t answer your questions and/or you want to connect with the other BT.CPP users, visit https://discourse.behaviortree.dev/

Commercial support

Are you using BT.CPP in your commercial product and you need technical support / consulting? You can get in touch at dfaconti@aurynrobotics.com and we will happy to discuss your use case and needs.

Design principles

The main goal of this project is to create a Behavior Tree implementation that uses the principles of Model Driven Development to separate the role of the Component Developer from the Behavior Designer.

In practice, this means that:

• Custom TreeNodes must be reusable building blocks. You should be able to implement them once and reuse them to build many behaviors.

• To build a Behavior Tree out of TreeNodes, the Behavior Designer must not need to read nor modify the C++ source code of a given TreeNode.

• Complex Behaviours must be composable using Subtrees

Many of the features and, sometimes, the apparent limitations of this library, might be a consequence of this design principle.

For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important to avoid “name pollution” and allow the creation of large scale trees.

GUI Editor

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

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

Watch Groot and BehaviorTree.CPP in action

Click on the following image to see a short video of how the C++ library and the graphic user interface are used to design and monitor a Behavior Tree.

How to compile (plain old cmake)

On Ubuntu, you are encourage to install the following dependencies:

 sudo apt-get install libzmq3-dev libboost-dev

Other dependencies are already included in the 3rdparty folder.

To compile and install the library, from the BehaviorTree.CPP folder, execute:

 mkdir build; cd build
 cmake ..
 make
 sudo make install

If you want to use BT.CPp in your application a typical CMakeLists.txt file will look like this:

cmake_minimum_required(VERSION 3.5)

project(hello_BT)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(behaviortree_cpp_v3)

add_executable(${PROJECT_NAME} "hello_BT.cpp")
target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp_v3)

ROS1 or ROS2 users (Catkin/Ament)

You can easily install the package with the command

  sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v3

If you want to compile it with catkin, you must include this package to your catkin workspace.

Acknowledgement

This library was initially developed at Eurecat - https://eurecat.org/en/ (main author, Davide Faconti) in a joint effort with the Italian Institute of Technology (Michele Colledanchise).

This software is one of the main components of MOOD2Be, which is one of the six Integrated Technical Projects (ITPs) selected from the RobMoSys first open call. Therefore, MOOD2Be has been supported by the European Horizon2020 project RobMoSys. This software is RobMoSys conformant.

Further readings

• Introductory article: Behavior trees for AI: How they work

• How Behavior Trees Modularize Hybrid Control Systems and Generalize Sequential Behavior Compositions, the Subsumption Architecture, and Decision Trees. Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.

• Behavior Trees in Robotics and AI, published by CRC Press Taylor & Francis, available for purchase (ebook and hardcover) on the CRC Press Store or Amazon.

The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084

License

The MIT License (MIT)

Copyright (c) 2014-2018 Michele Colledanchise

Copyright (c) 2018-2019 Davide Faconti, Eurecat

Copyright (c) 2019-2021 Davide Faconti

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

3.8.7 (2024-06-26)

• Backport of some build-related flatbuffers changes (#825) * From flatbuffers upstream: Fix compiler error Original author of change: avaliente-bc Backport/update from upstream flatbuffers repository. Change taken from https://github.com/google/flatbuffers/pull/7227 * From flatbuffers upstream: Fix include of string_view with C++17 abseil Original author of change: ocpalo Backport/update from upstream flatbuffers repository. Changes taken from https://github.com/google/flatbuffers/pull/7897.

• Add in call to ament_export_targets. (#826) That way downstream ament packages can use this package as a CMake target.
• Fixed #810 - halting of subsequent nodes in ReactiveSequence/Fallback (#817)
  • ReactiveSequence and ReactiveFallback will behave more similarly to 3.8

  * Reactive Sequence/Fallback defaulting to allow multiple async nodes ---------Co-authored-by: Davide Faconti <<davide.faconti@gmail.com>> Co-authored-by: Matej Vargovcik <<vargovcik@robotechvision.com>>

• Merge pull request #769 from bi0ha2ard/fewer_boost_dependencies depend only on libboost-coroutine(-dev) for v3.8
• fix(dependency): depend only on libboost-coroutine(-dev) At least on Ubuntu, boost-all-dev depends on openmpi, which depends on a fortran compiler and gcc. This is very heavy for Docker containers where only exec dependencies are really needed.
• alternative to #719

• fix issue

  #725

  SetBlackboard can copy entries

• Contributors: Chris Lalancette, Davide Faconti, Felix, Lars Toenning, afrixs

3.8.5 (2023-08-14)

3.8.4 (2023-06-28)

• Update ros2.yaml
• Update ros1.yaml
• Issue 563 (#596)
  • failing test
  • fix issue 563 (?)
  • better solution
• use lambda in tutorial
• Merge pull request #583 from BehaviorTree/issue563 Issue563
• better default port
• restore type check
• fix issue #563
• fix test
• Issue563
• Merge pull request #579 from open-navigation/hi changing resetStatus to public
• Update tree_node.h
• changing resetStatus to public
• Merge branch 'v3.8' of github.com:BehaviorTree/BehaviorTree.CPP into v3.8
• backporting fixes from branch 4.x
• Merge pull request #546 from divbyzerofordummies/fix_ROS_include Fix issue #545
• Fix issue #545
• bug fix: halting a Node must invoke the Loggers
• unit test added
• Contributors: Daniel Muschick, Davide Faconti, Steve Macenski, stevemacenski

3.8.3 (2023-03-01)

• fix and warnings added
• fix in SharedLibrary and cosmetic changes to the code
• Contributors: Davide Faconti

3.8.2 (2023-01-05)

• rebane haltChildren to resetChildren
• revert #329
• Contributors: Davide Faconti

3.8.1 (2022-11-27)

• fix catkin installation #478
• cherry picking changes from v4
• fix #227
• fix issue #461
• fix issue #413 (Delay logic)
• Update README.md
• Contributors: Davide Faconti

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 <<davide.faconti@gmail.com>>

• Add functionality to clear registered behavior trees. (#439) Co-authored-by: Jere Liukkonen <<jere@picknik.ai>>
• Wait for the thread to finish before deleting zmq (#440) Co-authored-by: JafarAbdi <<cafer.abdi@gmail.com>>
• 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 <<luca.bonamini@yapemobility.it>>
• 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]{.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 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]{.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