From 722d23662de3cf41febe1c5aaf76404b7c529f07 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 11 Oct 2022 10:14:03 +0200
Subject: [PATCH 01/55] tickRootWhileRunning method

---
 examples/t01_build_your_first_tree.cpp    |  2 +-
 examples/t02_basic_ports.cpp              |  3 +-
 examples/t03_generic_ports.cpp            |  2 +-
 examples/t04_reactive_sequence.cpp        | 76 +++++++++++++----------
 examples/t05_crossdoor.cpp                | 23 ++-----
 examples/t06_subtree_port_remapping.cpp   | 10 +--
 examples/t07_load_multiple_xml.cpp        |  4 +-
 examples/t08_additional_node_args.cpp     |  2 +-
 examples/t09_async_actions_coroutines.cpp |  7 +--
 include/behaviortree_cpp_v3/bt_factory.h  | 24 +++++++
 10 files changed, 82 insertions(+), 71 deletions(-)

diff --git a/examples/t01_build_your_first_tree.cpp b/examples/t01_build_your_first_tree.cpp
index 49d270ce8..6d7c95b09 100644
--- a/examples/t01_build_your_first_tree.cpp
+++ b/examples/t01_build_your_first_tree.cpp
@@ -83,7 +83,7 @@ int main()
   // The tick is propagated to the children based on the logic of the tree.
   // In this case, the entire sequence is executed, because all the children
   // of the Sequence return SUCCESS.
-  tree.tickRoot();
+  tree.tickRootWhileRunning();
 
   return 0;
 }
diff --git a/examples/t02_basic_ports.cpp b/examples/t02_basic_ports.cpp
index df0d14b9d..c68fc214b 100644
--- a/examples/t02_basic_ports.cpp
+++ b/examples/t02_basic_ports.cpp
@@ -95,8 +95,7 @@ int main()
      */
 
   auto tree = factory.createTreeFromText(xml_text);
-
-  tree.tickRoot();
+  tree.tickRootWhileRunning();
 
   /*  Expected output:
      *
diff --git a/examples/t03_generic_ports.cpp b/examples/t03_generic_ports.cpp
index 848b1d80e..bbf93f19a 100644
--- a/examples/t03_generic_ports.cpp
+++ b/examples/t03_generic_ports.cpp
@@ -126,7 +126,7 @@ int main()
   factory.registerNodeType<PrintTarget>("PrintTarget");
 
   auto tree = factory.createTreeFromText(xml_text);
-  tree.tickRoot();
+  tree.tickRootWhileRunning();
 
   /* Expected output:
  *
diff --git a/examples/t04_reactive_sequence.cpp b/examples/t04_reactive_sequence.cpp
index 05b819b3b..cd50eedc6 100644
--- a/examples/t04_reactive_sequence.cpp
+++ b/examples/t04_reactive_sequence.cpp
@@ -80,56 +80,68 @@ int main()
 
     auto tree = factory.createTreeFromText(xml_text);
 
-    NodeStatus status;
-
-    std::cout << "\n--- 1st executeTick() ---" << std::endl;
-    status = tree.tickRoot();
-    Assert(status == NodeStatus::RUNNING);
-
-    tree.sleep(milliseconds(150));
-    std::cout << "\n--- 2nd executeTick() ---" << std::endl;
-    status = tree.tickRoot();
-    Assert(status == NodeStatus::RUNNING);
-
-    tree.sleep(milliseconds(150));
-    std::cout << "\n--- 3rd executeTick() ---" << std::endl;
-    status = tree.tickRoot();
-    Assert(status == NodeStatus::SUCCESS);
-
-    std::cout << std::endl;
+    // Here, instead of tree.tickRootWhileRunning(),
+    // we prefer our own loop.
+    std::cout << "--- ticking\n";
+    NodeStatus status = tree.tickRoot();
+    std::cout << "--- status: " << toStr(status) << "\n\n";
+
+    while(status == NodeStatus::RUNNING)
+    {
+      // Sleep to avoid busy loops.
+      // do NOT use other sleep functions!
+      // Small sleep time is OK, here we use a large one only to
+      // have less messages on the console.
+      tree.sleep(std::chrono::milliseconds(100));
+
+      std::cout << "--- ticking\n";
+      status = tree.tickRoot();
+      std::cout << "--- status: " << toStr(status) << "\n\n";
+    }
   }
   return 0;
 }
 
 /*
- Expected output:
+* Expected output:
 
 ------------ BUILDING A NEW TREE ------------
-
---- 1st executeTick() ---
+--- ticking
 [ Battery: OK ]
-Robot says: "mission started..."
+Robot says: mission started...
+--- status: RUNNING
+
 [ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
+--- ticking
+--- status: RUNNING
+
+--- ticking
+--- status: RUNNING
 
---- 2nd executeTick() ---
 [ MoveBase: FINISHED ]
+--- ticking
+Robot says: mission completed!
+--- status: SUCCESS
 
---- 3rd executeTick() ---
-Robot says: "mission completed!"
 
 ------------ BUILDING A NEW TREE ------------
-
---- 1st executeTick() ---
+--- ticking
 [ Battery: OK ]
-Robot says: "mission started..."
-[ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
+Robot says: mission started...
+--- status: RUNNING
 
---- 2nd executeTick() ---
+[ MoveBase: STARTED ]. goal: x=1 y=2.0 theta=3.00
+--- ticking
 [ Battery: OK ]
-[ MoveBase: FINISHED ]
+--- status: RUNNING
 
---- 3rd executeTick() ---
+--- ticking
 [ Battery: OK ]
-Robot says: "mission completed!"
+--- status: RUNNING
 
+[ MoveBase: FINISHED ]
+--- ticking
+[ Battery: OK ]
+Robot says: mission completed!
+--- status: SUCCESS
 */
diff --git a/examples/t05_crossdoor.cpp b/examples/t05_crossdoor.cpp
index dbf7a5f01..f4938b01b 100644
--- a/examples/t05_crossdoor.cpp
+++ b/examples/t05_crossdoor.cpp
@@ -86,25 +86,12 @@ int main(int argc, char** argv)
 
   const bool LOOP = (argc == 2 && strcmp(argv[1], "loop") == 0);
 
-  using std::chrono::milliseconds;
-  do
+  NodeStatus status = tree.tickRoot();
+  while(LOOP || status == NodeStatus::RUNNING)
   {
-    NodeStatus status = NodeStatus::RUNNING;
-    // Keep on ticking until you get either a SUCCESS or FAILURE state
-    while (status == NodeStatus::RUNNING)
-    {
-      status = tree.tickRoot();
-      // IMPORTANT: you must always add some sleep if you call tickRoot()
-      // in a loop, to avoid using 100% of your CPU (busy loop).
-      // The method Tree::sleep() is recommended, because it can be
-      // interrupted by an internal event inside the tree.
-      tree.sleep(milliseconds(10));
-    }
-    if (LOOP)
-    {
-      std::this_thread::sleep_for(milliseconds(1000));
-    }
-  } while (LOOP);
+    tree.sleep(std::chrono::milliseconds(10));
+    status = tree.tickRoot();
+  }
 
   return 0;
 }
diff --git a/examples/t06_subtree_port_remapping.cpp b/examples/t06_subtree_port_remapping.cpp
index 760473ec6..eaf885a91 100644
--- a/examples/t06_subtree_port_remapping.cpp
+++ b/examples/t06_subtree_port_remapping.cpp
@@ -62,15 +62,7 @@ int main()
 
   auto tree = factory.createTreeFromText(xml_text);
 
-  NodeStatus status = NodeStatus::RUNNING;
-  // Keep on ticking until you get either a SUCCESS or FAILURE state
-  while (status == NodeStatus::RUNNING)
-  {
-    status = tree.tickRoot();
-    // IMPORTANT: add sleep to avoid busy loops.
-    // You should use Tree::sleep(). Don't be afraid to run this at 1 KHz.
-    tree.sleep(std::chrono::milliseconds(1));
-  }
+  tree.tickRootWhileRunning();
 
   // let's visualize some information about the current state of the blackboards.
   std::cout << "--------------" << std::endl;
diff --git a/examples/t07_load_multiple_xml.cpp b/examples/t07_load_multiple_xml.cpp
index 2028f5850..21b8ae0c6 100644
--- a/examples/t07_load_multiple_xml.cpp
+++ b/examples/t07_load_multiple_xml.cpp
@@ -58,12 +58,12 @@ int main()
   // You can create the MainTree and the subtrees will be added automatically.
   std::cout << "----- MainTree tick ----" << std::endl;
   auto main_tree = factory.createTree("MainTree");
-  main_tree.tickRoot();
+  main_tree.tickRootWhileRunning();
 
   // ... or you can create only one of the subtree
   std::cout << "----- SubA tick ----" << std::endl;
   auto subA_tree = factory.createTree("SubA");
-  subA_tree.tickRoot();
+  subA_tree.tickRootWhileRunning();
 
   return 0;
 }
diff --git a/examples/t08_additional_node_args.cpp b/examples/t08_additional_node_args.cpp
index 7d3d5e4af..a5a71c77e 100644
--- a/examples/t08_additional_node_args.cpp
+++ b/examples/t08_additional_node_args.cpp
@@ -111,7 +111,7 @@ int main()
     }
   }
 
-  tree.tickRoot();
+  tree.tickRootWhileRunning();
 
   /* Expected output:
 
diff --git a/examples/t09_async_actions_coroutines.cpp b/examples/t09_async_actions_coroutines.cpp
index a21c1c53f..4c1404f80 100644
--- a/examples/t09_async_actions_coroutines.cpp
+++ b/examples/t09_async_actions_coroutines.cpp
@@ -114,11 +114,8 @@ int main()
   auto tree = factory.createTreeFromText(xml_text);
 
   //---------------------------------------
-  // keep executing tick until it returns either SUCCESS or FAILURE
-  while (tree.tickRoot() == NodeStatus::RUNNING)
-  {
-    tree.sleep(std::chrono::milliseconds(10));
-  }
+  tree.tickRootWhileRunning();
+
   return 0;
 }
 
diff --git a/include/behaviortree_cpp_v3/bt_factory.h b/include/behaviortree_cpp_v3/bt_factory.h
index 4191d6329..718996977 100644
--- a/include/behaviortree_cpp_v3/bt_factory.h
+++ b/include/behaviortree_cpp_v3/bt_factory.h
@@ -185,6 +185,30 @@ class Tree
     return nodes.empty() ? nullptr : nodes.front().get();
   }
 
+  /**
+   * @brief tickRootWhileRunning imply execute tickRoot in a loop
+   * as long as the status is RUNNING.
+   *
+   * @param sleep_time maximum sleep time between consecutive loops.
+   *
+   * @return should return only SUCCESS or FAILURE.
+   */
+  NodeStatus tickRootWhileRunning(std::chrono::milliseconds sleep_time = std::chrono::milliseconds(10))
+  {
+    NodeStatus status = tickRoot();
+
+    while (status == NodeStatus::RUNNING)
+    {
+      this->sleep(sleep_time);
+      status = tickRoot();
+    }
+    return status;
+  }
+
+  /**
+   * @brief tickRoot send the tick signal to the root node.
+   * It will propagate through the entire tree.
+   */
   NodeStatus tickRoot()
   {
     if (!wake_up_)

From fb0f17862d8bdbd981bdd523142e2fc9d456663c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 11 Oct 2022 11:40:34 +0200
Subject: [PATCH 02/55] preparing release

---
 CHANGELOG.rst | 63 +++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 63 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0b4d8f2bd..a2291c6cd 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,69 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* tickRootWhileRunning method
+* Fix: PublisherZMQ::flush is called after the publisher has been destructed (`#426 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/442>`_)
+* Fix incorrect registration of behavior trees containing faulty XML (`#438 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/439>`_)
+  Co-authored-by: Jere Liukkonen <jere@picknik.ai>
+* Wait for the thread to finish before deleting zmq (`#440 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/433>`_
+* Added ros_environment dependency to make sure ROS_VERSION is initialized (`#420 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/420>`_)
+* Added XML validation for decorators without children (`#424 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/424>`_)
+  * Added unit tests to demonstrate failure
+  * Added validation that decorators have only one child
+* Update expected-lite to 0.6.2 (`#418 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/418>`_)
+* fix test
+* parallel node fix
+* threshold child count dynamically in parallel control node (`#363 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/363>`_)
+* Adding the reserved word "_description" (`#394 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/394>`_)
+* fix(README): change find_package() instruction for BT external usage (`#401 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/401>`_)
+  Co-authored-by: Luca Bonamini <luca.bonamini@yapemobility.it>
+* Example suggests it's not restricted to a few (`#414 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/400>`_)
+* Update README.md
+* add option to conditionally build manual selector node (`#397 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/398>`_)
+  * remove variables that depend on CMAKE_BINARY_DIR being set
+  * Update cmake.yml
+* Small comments on node registration (`#399 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/399>`_)
+* Fix destination in CMakeLists.txt (`#389 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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

From 101ca0e66351020ad1682145c7ede8902ea0f854 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 11 Oct 2022 11:40:38 +0200
Subject: [PATCH 03/55] 3.8.0

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index a2291c6cd..a466fcc24 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.0 (2022-10-11)
+------------------
 * tickRootWhileRunning method
 * Fix: PublisherZMQ::flush is called after the publisher has been destructed (`#426 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/426>`_)
   * fix: PublisherZMQ::flush is called after the publisher has been destructed
diff --git a/package.xml b/package.xml
index 9588ea247..42c155b21 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.7.0</version>
+  <version>3.8.0</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 73e10fb8b2a7088521352d6d11fcd8633ba6036c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 11 Oct 2022 17:33:26 +0200
Subject: [PATCH 04/55] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 6d0063a35..4a1263264 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
 ![License MIT](https://img.shields.io/github/license/BehaviorTree/BehaviorTree.CPP?color=blue)
-![Version](https://img.shields.io/badge/version-3.7-blue.svg)
+![Version](https://img.shields.io/badge/version-3.8-blue.svg)
 [![cmake](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake.yml)
 [![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
 [![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)

From ae9f15732dabc6e3445c2a2c351d48a4632d7ff1 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 22 Nov 2022 11:10:30 +0100
Subject: [PATCH 05/55] fix issue #413 (Delay logic)

---
 src/decorators/delay_node.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/decorators/delay_node.cpp b/src/decorators/delay_node.cpp
index 2f68d4327..a5962f231 100644
--- a/src/decorators/delay_node.cpp
+++ b/src/decorators/delay_node.cpp
@@ -63,9 +63,12 @@ NodeStatus DelayNode::tick()
   }
   else if (delay_complete_)
   {
-    delay_started_ = false;
-    delay_aborted_ = false;
     auto child_status = child()->executeTick();
+    if(child_status != NodeStatus::RUNNING)
+    {
+      delay_started_ = false;
+      delay_aborted_ = false;
+    }
     return child_status;
   }
   else

From 4ddc0b035ca70547132ed5b90d9106a53bb46bc7 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 22 Nov 2022 21:58:31 +0100
Subject: [PATCH 06/55] fix issue #461

---
 CMakeLists.txt | 60 ++++++++++++++++++++++++++++----------------------
 1 file changed, 34 insertions(+), 26 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1a84889de..738568de8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -210,12 +210,6 @@ target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
     ${Boost_LIBRARIES}
     ${ZMQ_LIBRARIES})
 
-#get_target_property(my_libs ${BEHAVIOR_TREE_LIBRARY} INTERFACE_LINK_LIBRARIES)
-#list(REMOVE_ITEM _libs X)
-#message("my_libs: ${my_libs}")
-
-#set_target_properties(${BEHAVIOR_TREE_LIBRARY} PROPERTIES INTERFACE_LINK_LIBRARIES "")
-
 target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
 
 target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
@@ -278,22 +272,50 @@ endif()
 ######################################################
 # INSTALL
 
+INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
+    DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
+    FILES_MATCHING PATTERN "*.h*")
+
+
 INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
     EXPORT ${PROJECT_NAME}Targets
     ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
     LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
     RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
-    )
-
-INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
-    DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
-    FILES_MATCHING PATTERN "*.h*")
+)
 
 install(EXPORT ${PROJECT_NAME}Targets
     FILE "${PROJECT_NAME}Targets.cmake"
     DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
     NAMESPACE BT::
-    )
+)
+
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
+)
+
+###### Fix back-compatibility problem ##########
+
+INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
+    EXPORT BehaviorTreeV3Targets
+    ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
+)
+
+install(EXPORT BehaviorTreeV3Targets
+    FILE "BehaviorTreeV3Targets.cmake"
+    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
+    NAMESPACE BT::
+)
+
+install(FILES
+    "${CMAKE_CURRENT_BINARY_DIR}/BehaviorTreeV3Config.cmake"
+    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
+)
+
+################################################
 
 export(PACKAGE ${PROJECT_NAME})
 
@@ -305,20 +327,6 @@ configure_package_config_file(
   INSTALL_DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
 )
 
-# This requires to declare to project version in the project() macro
-
-#write_basic_package_version_file(
-#  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-#  VERSION ${PROJECT_VERSION}
-#  COMPATIBILITY AnyNewerVersion
-#)
-
-install(
-  FILES
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-    #    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
-    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
-)
 
 ######################################################
 # EXAMPLES and TOOLS

From 758c4a3b4f5e65a58b96b61eadb82c5e36c577bd Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 22 Nov 2022 23:29:47 +0100
Subject: [PATCH 07/55] fix #227

---
 src/blackboard.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index e5a46c091..ed64f6a7c 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -24,7 +24,7 @@ void Blackboard::setPortInfo(std::string key, const PortInfo& info)
   else
   {
     auto old_type = it->second.port_info.type();
-    if (old_type && old_type != info.type())
+    if (old_type && *old_type != *info.type())
     {
       throw LogicError("Blackboard::set() failed: once declared, the type of a "
                        "port shall "

From 562c0e52a7c688b853621d0c798ccc8c8a66e05b Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 22 Nov 2022 23:54:09 +0100
Subject: [PATCH 08/55] cherry picking changes from v4

---
 CMakeLists.txt | 33 +++++++++++++++++++++++----------
 1 file changed, 23 insertions(+), 10 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 738568de8..cfa914a87 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -110,8 +110,9 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
     list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
     set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
+endif()
 
-elseif(BUILD_UNIT_TESTS)
+if(BUILD_UNIT_TESTS)
     if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
         find_package(GTest REQUIRED)
     else()
@@ -203,20 +204,26 @@ if( ZMQ_FOUND )
     list(APPEND BUILD_TOOL_INCLUDE_DIRS ${ZMQ_INCLUDE_DIRS})
 endif()
 
-target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    ${BEHAVIOR_TREE_PUBLIC_LIBRARIES})
-
-target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-    ${Boost_LIBRARIES}
-    ${ZMQ_LIBRARIES})
+target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
+    PUBLIC
+        ${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
+    PRIVATE
+        $<BUILD_INTERFACE:Boost::coroutine>
+        $<BUILD_INTERFACE:${ZMQ_LIBRARIES}>
+)
 
 target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
 
 target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>
-    ${BUILD_TOOL_INCLUDE_DIRS})
+    )
+
+target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
+    $<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
+    $<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}>
+    )
 
 if( ZMQ_FOUND )
     target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
@@ -231,7 +238,13 @@ endif()
 #############################################################
 if(ament_cmake_FOUND)
     find_package(ament_index_cpp REQUIRED)
-    ament_target_dependencies(${BEHAVIOR_TREE_LIBRARY} PUBLIC ament_index_cpp)
+
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        $<BUILD_INTERFACE:${ament_index_cpp_INCLUDE_DIRS}> )
+
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+            $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
+
     ament_export_dependencies(ament_index_cpp)
 
     set( BEHAVIOR_TREE_LIB_DESTINATION   lib )

From 848d9a5e8353020ab4af903a485ffa58a4cbef92 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 23 Nov 2022 00:01:33 +0100
Subject: [PATCH 09/55] fix

---
 tests/CMakeLists.txt | 2 +-
 tools/CMakeLists.txt | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index f751d3e64..25352717b 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,7 +1,7 @@
 ######################################################
 # TESTS
 
-include_directories(include)
+include_directories(${PROJECT_SOURCE_DIR}/3rdparty include)
 
 set(BT_TESTS
   src/action_test_node.cpp
diff --git a/tools/CMakeLists.txt b/tools/CMakeLists.txt
index 2ad33b35c..c73ee3780 100644
--- a/tools/CMakeLists.txt
+++ b/tools/CMakeLists.txt
@@ -1,5 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
+include_directories(${PROJECT_SOURCE_DIR}/3rdparty)
 
 add_executable(bt3_log_cat         bt_log_cat.cpp )
 target_link_libraries(bt3_log_cat  ${BEHAVIOR_TREE_LIBRARY} )

From ddb4d2c4c2c025f217e8d7c84934260a8706df3d Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 23 Nov 2022 09:10:16 +0100
Subject: [PATCH 10/55] revert changes

---
 CMakeLists.txt | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index cfa914a87..093cfef35 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -110,9 +110,8 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
     list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
     set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
-endif()
 
-if(BUILD_UNIT_TESTS)
+elseif(BUILD_UNIT_TESTS)
     if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
         find_package(GTest REQUIRED)
     else()

From 2692ff5f9d5b126a3a0a405d66e18327fc903d0b Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 23 Nov 2022 13:12:18 +0100
Subject: [PATCH 11/55] fix CI

---
 CMakeLists.txt | 124 ++++++++++++++++++++-----------------------------
 1 file changed, 51 insertions(+), 73 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 093cfef35..aac81098c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,7 +19,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 #---- project configuration ----
 option(BUILD_EXAMPLES   "Build tutorials and examples" ON)
-option(BUILD_SAMPLES    "Build sample nodes" ON)
 option(BUILD_UNIT_TESTS "Build the unit tests" ON)
 option(BUILD_TOOLS "Build commandline tools" ON)
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
@@ -35,23 +34,22 @@ if(ENABLE_COROUTINES)
         if(NOT Boost_VERSION_NODOT VERSION_LESS 105900)
             message(STATUS "Found boost::coroutine2.")
             add_definitions(-DBT_BOOST_COROUTINE2)
-            set(BT_COROUTINES true)
+            set(BT_COROUTINES_FOUND true)
         elseif(NOT Boost_VERSION_NODOT VERSION_LESS 105300)
             message(STATUS "Found boost::coroutine.")
             add_definitions(-DBT_BOOST_COROUTINE)
-            set(BT_COROUTINES true)
+            set(BT_COROUTINES_FOUND true)
         endif()
-        include_directories(${Boost_INCLUDE_DIRS})
     endif()
 
-    if(NOT DEFINED BT_COROUTINES)
+    if(NOT DEFINED BT_COROUTINES_FOUND)
         message(STATUS "Boost coroutines disabled. Install Boost (version 1.59+ recommended).")
     endif()
 else()
     message(STATUS "Boost coroutines disabled by CMake option.")
 endif()
 
-if(NOT DEFINED BT_COROUTINES)
+if(NOT DEFINED BT_COROUTINES_FOUND)
     add_definitions(-DBT_NO_COROUTINES)
 endif()
 
@@ -59,13 +57,8 @@ endif()
 find_package(Threads)
 find_package(ZMQ)
 
-list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES
-    ${CMAKE_THREAD_LIBS_INIT}
-    ${CMAKE_DL_LIBS}
-)
-
 if( ZMQ_FOUND )
-    message(STATUS "ZeroMQ found.")
+    message(STATUS "ZeroMQ: found.")
     add_definitions( -DZMQ_FOUND )
     list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
 else()
@@ -89,8 +82,6 @@ if ( ament_cmake_FOUND )
     message(STATUS "BehaviourTree is being built using AMENT.")
     message(STATUS "------------------------------------------")
 
-    set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})
-
 elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 
     set(catkin_FOUND 1)
@@ -108,9 +99,6 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
         CATKIN_DEPENDS roslib
         )
 
-    list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${catkin_LIBRARIES})
-    set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
-
 elseif(BUILD_UNIT_TESTS)
     if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
         find_package(GTest REQUIRED)
@@ -170,11 +158,8 @@ list(APPEND BT_SOURCE
 if(BUILD_MANUAL_SELECTOR)
     find_package(Curses QUIET)
     if(CURSES_FOUND)
-        list(APPEND BT_SOURCE
-            src/controls/manual_node.cpp
-            )
-        list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
-        add_definitions(-DNCURSES_FOUND)
+        message(STATUS "NCurses: found.")
+        list(APPEND BT_SOURCE src/controls/manual_node.cpp )
     else()
         message(WARNING "NCurses NOT found. Skipping the build of manual selector node.")
     endif()
@@ -199,35 +184,48 @@ else()
     add_library(${BEHAVIOR_TREE_LIBRARY} STATIC ${BT_SOURCE})
 endif()
 
-if( ZMQ_FOUND )
-    list(APPEND BUILD_TOOL_INCLUDE_DIRS ${ZMQ_INCLUDE_DIRS})
-endif()
-
 target_link_libraries(${BEHAVIOR_TREE_LIBRARY}
     PUBLIC
-        ${BEHAVIOR_TREE_PUBLIC_LIBRARIES}
-    PRIVATE
-        $<BUILD_INTERFACE:Boost::coroutine>
-        $<BUILD_INTERFACE:${ZMQ_LIBRARIES}>
+        ${CMAKE_THREAD_LIBS_INIT}
+        ${CMAKE_DL_LIBS}
 )
 
-target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
-
-target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
+target_include_directories(${BEHAVIOR_TREE_LIBRARY}
+    PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+    PRIVATE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/lexy/include>
+        $<BUILD_INTERFACE:${BTCPP_EXTRA_INCLUDE_DIRS}>
     )
 
-target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
-    $<BUILD_INTERFACE:${BUILD_TOOL_INCLUDE_DIRS}>
-    $<BUILD_INTERFACE:${Boost_INCLUDE_DIRS}>
-    )
+if(ZMQ_FOUND)
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${ZMQ_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${ZMQ_INCLUDE_DIRS} )
+    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE ZMQ_FOUND)
+endif()
 
-if( ZMQ_FOUND )
-    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
+if(BT_COROUTINES_FOUND)
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${Boost_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${Boost_INCLUDE_DIRS} )
+endif()
+
+if(CURSES_FOUND)
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${CURSES_LIBRARIES} )
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${CURSES_INCLUDE_DIRS} )
+    target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE NCURSES_FOUND)
 endif()
 
+
+target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
+
 if(MSVC)
 else()
     target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
@@ -242,7 +240,7 @@ if(ament_cmake_FOUND)
         $<BUILD_INTERFACE:${ament_index_cpp_INCLUDE_DIRS}> )
 
     target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
-            $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
+        $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp> )
 
     ament_export_dependencies(ament_index_cpp)
 
@@ -254,6 +252,13 @@ if(ament_cmake_FOUND)
     ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
     ament_package()
 elseif(catkin_FOUND)
+
+    target_include_directories(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${catkin_INCLUDE_DIRS} )
+
+    target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PRIVATE
+        ${catkin_LIBRARIES} )
+
     set( BEHAVIOR_TREE_LIB_DESTINATION   ${CATKIN_PACKAGE_LIB_DESTINATION} )
     set( BEHAVIOR_TREE_INC_DESTINATION   ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
     set( BEHAVIOR_TREE_BIN_DESTINATION   ${CATKIN_GLOBAL_BIN_DESTINATION} )
@@ -268,16 +273,11 @@ message( STATUS "BEHAVIOR_TREE_LIB_DESTINATION:   ${BEHAVIOR_TREE_LIB_DESTINATIO
 message( STATUS "BEHAVIOR_TREE_BIN_DESTINATION:   ${BEHAVIOR_TREE_BIN_DESTINATION} " )
 message( STATUS "BUILD_UNIT_TESTS:   ${BUILD_UNIT_TESTS} " )
 
-
-######################################################
-# Samples
-if (BUILD_SAMPLES)
-    add_subdirectory(sample_nodes)
-endif()
+add_subdirectory(sample_nodes)
 
 ######################################################
 # Test
-if (BUILD_UNIT_TESTS AND BUILD_SAMPLES)
+if (BUILD_UNIT_TESTS)
     add_subdirectory(tests)
 endif()
 
@@ -307,28 +307,6 @@ install(FILES
     DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
 )
 
-###### Fix back-compatibility problem ##########
-
-INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
-    EXPORT BehaviorTreeV3Targets
-    ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
-)
-
-install(EXPORT BehaviorTreeV3Targets
-    FILE "BehaviorTreeV3Targets.cmake"
-    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
-    NAMESPACE BT::
-)
-
-install(FILES
-    "${CMAKE_CURRENT_BINARY_DIR}/BehaviorTreeV3Config.cmake"
-    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/BehaviorTreeV3"
-)
-
-################################################
-
 export(PACKAGE ${PROJECT_NAME})
 
 include(CMakePackageConfigHelpers)
@@ -346,6 +324,6 @@ if(BUILD_TOOLS)
     add_subdirectory(tools)
 endif()
 
-if(BUILD_EXAMPLES AND BUILD_SAMPLES)
+if(BUILD_EXAMPLES)
     add_subdirectory(examples)
 endif()

From 234fdd03f53c07b7983260971880fbffc673b204 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 27 Nov 2022 18:36:00 +0100
Subject: [PATCH 12/55] fix catkin installation #478

---
 CMakeLists.txt | 54 +++++++++++++++++++++++++++++---------------------
 1 file changed, 31 insertions(+), 23 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index aac81098c..95b266334 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -262,6 +262,7 @@ elseif(catkin_FOUND)
     set( BEHAVIOR_TREE_LIB_DESTINATION   ${CATKIN_PACKAGE_LIB_DESTINATION} )
     set( BEHAVIOR_TREE_INC_DESTINATION   ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
     set( BEHAVIOR_TREE_BIN_DESTINATION   ${CATKIN_GLOBAL_BIN_DESTINATION} )
+
 else()
     set( BEHAVIOR_TREE_LIB_DESTINATION   lib )
     set( BEHAVIOR_TREE_INC_DESTINATION   include )
@@ -288,34 +289,41 @@ INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
     DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
     FILES_MATCHING PATTERN "*.h*")
 
+if(catkin_FOUND)
+    INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+    )
+else()
+    INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
+        EXPORT ${PROJECT_NAME}Targets
+        ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
+    )
 
-INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
-    EXPORT ${PROJECT_NAME}Targets
-    ARCHIVE DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
-    RUNTIME DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
-)
-
-install(EXPORT ${PROJECT_NAME}Targets
-    FILE "${PROJECT_NAME}Targets.cmake"
-    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
-    NAMESPACE BT::
-)
+    install(EXPORT ${PROJECT_NAME}Targets
+        FILE "${PROJECT_NAME}Targets.cmake"
+        DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
+        NAMESPACE BT::
+    )
 
-install(FILES
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-    DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
-)
+    install(FILES
+        "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+        DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
+    )
 
-export(PACKAGE ${PROJECT_NAME})
+    export(PACKAGE ${PROJECT_NAME})
 
-include(CMakePackageConfigHelpers)
+    include(CMakePackageConfigHelpers)
 
-configure_package_config_file(
-  "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in"
-  "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
-  INSTALL_DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
-)
+    configure_package_config_file(
+        "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Config.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+        INSTALL_DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/cmake/${PROJECT_NAME}"
+    )
+endif()
 
 
 ######################################################

From a1ae76d09bace1041cb81f174567278fbe8b719f Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 27 Nov 2022 18:36:52 +0100
Subject: [PATCH 13/55] prepare release

---
 CHANGELOG.rst | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index a466fcc24..c50e53186 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,16 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* fix catkin installation `#478 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/478>`_
+* cherry picking changes from v4
+* fix `#227 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/227>`_
+* fix issue `#461 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/461>`_
+* fix issue `#413 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/413>`_ (Delay logic)
+* Update README.md
+* Contributors: Davide Faconti
+
 3.8.0 (2022-10-11)
 ------------------
 * tickRootWhileRunning method

From c53f5690d436d5f3eff6533f48dce9e4c852645a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 27 Nov 2022 18:37:18 +0100
Subject: [PATCH 14/55] 3.8.1

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index c50e53186..0d4c5dd8e 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.1 (2022-11-27)
+------------------
 * fix catkin installation `#478 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/478>`_
 * cherry picking changes from v4
 * fix `#227 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/227>`_
diff --git a/package.xml b/package.xml
index 42c155b21..729cad80c 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.0</version>
+  <version>3.8.1</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From ac72e9aab617bbf1f0d53a4755e8179003974396 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 1 Dec 2022 14:24:36 +0100
Subject: [PATCH 15/55] revert #329

---
 src/controls/sequence_star_node.cpp |   2 +-
 tests/gtest_sequence.cpp            | 140 ----------------------------
 2 files changed, 1 insertion(+), 141 deletions(-)

diff --git a/src/controls/sequence_star_node.cpp b/src/controls/sequence_star_node.cpp
index f557611ca..a697278ed 100644
--- a/src/controls/sequence_star_node.cpp
+++ b/src/controls/sequence_star_node.cpp
@@ -68,7 +68,7 @@ NodeStatus SequenceStarNode::tick()
 
 void SequenceStarNode::halt()
 {
-  // DO NOT reset current_child_idx_ on halt
+  current_child_idx_ = 0;
   ControlNode::halt();
 }
 
diff --git a/tests/gtest_sequence.cpp b/tests/gtest_sequence.cpp
index 6ac5c6bf7..7646f6cec 100644
--- a/tests/gtest_sequence.cpp
+++ b/tests/gtest_sequence.cpp
@@ -386,143 +386,3 @@ TEST_F(ComplexSequenceWithMemoryTest, Conditions1ToFalse)
   ASSERT_EQ(NodeStatus::IDLE, action_2.status());
 }
 
-TEST_F(ComplexSequenceWithMemoryTest, Conditions2ToFalse)
-{
-  BT::NodeStatus state = root.executeTick();
-
-  condition_2.setExpectedResult(NodeStatus::FAILURE);
-  state = root.executeTick();
-  // change in condition_2 does not affect the state of the tree,
-  // since the seq_conditions was executed already
-  ASSERT_EQ(NodeStatus::RUNNING, state);
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action1DoneSeq)
-{
-  root.executeTick();
-
-  condition_2.setExpectedResult(NodeStatus::FAILURE);
-  root.executeTick();
-
-  // change in condition_2 does not affect the state of the tree,
-  // since the seq_conditions was executed already
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action2FailureSeq)
-{
-  root.executeTick();
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  action_2.setExpectedResult(NodeStatus::FAILURE);
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  // failure in action_2 does not affect the state of already
-  // executed nodes (seq_conditions and action_1)
-  ASSERT_EQ(NodeStatus::FAILURE, root.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  action_2.setExpectedResult(NodeStatus::SUCCESS);
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::SUCCESS, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}
-
-TEST_F(ComplexSequenceWithMemoryTest, Action2HaltSeq)
-{
-  root.executeTick();
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  root.halt();
-
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-
-  root.executeTick();
-
-  // tree retakes execution from action_2
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::RUNNING, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
-
-  std::this_thread::sleep_for(milliseconds(150));
-  root.executeTick();
-
-  ASSERT_EQ(NodeStatus::SUCCESS, root.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
-  ASSERT_EQ(NodeStatus::IDLE, seq_actions.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_1.status());
-  ASSERT_EQ(NodeStatus::IDLE, action_2.status());
-}

From 87c3669c18760b6d2d38aa838ee479a7069d0283 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 7 Dec 2022 03:05:06 +0100
Subject: [PATCH 16/55] rebane haltChildren to resetChildren

---
 include/behaviortree_cpp_v3/control_node.h         |  5 +++++
 include/behaviortree_cpp_v3/controls/switch_node.h |  2 +-
 include/behaviortree_cpp_v3/decorator_node.h       |  6 +++++-
 src/control_node.cpp                               | 14 +++++++++++++-
 src/controls/fallback_node.cpp                     |  4 ++--
 src/controls/if_then_else_node.cpp                 |  2 +-
 src/controls/parallel_node.cpp                     |  4 ++--
 src/controls/reactive_fallback.cpp                 |  4 ++--
 src/controls/reactive_sequence.cpp                 |  4 ++--
 src/controls/sequence_node.cpp                     |  4 ++--
 src/controls/sequence_star_node.cpp                |  2 +-
 src/controls/while_do_else_node.cpp                |  2 +-
 src/decorator_node.cpp                             |  8 +++++++-
 src/decorators/delay_node.cpp                      |  1 +
 src/decorators/inverter_node.cpp                   |  2 ++
 src/decorators/repeat_node.cpp                     |  4 ++--
 src/decorators/retry_node.cpp                      |  4 ++--
 src/decorators/subtree_node.cpp                    |  8 +++++++-
 18 files changed, 58 insertions(+), 22 deletions(-)

diff --git a/include/behaviortree_cpp_v3/control_node.h b/include/behaviortree_cpp_v3/control_node.h
index 3f8de1dde..306a05cba 100644
--- a/include/behaviortree_cpp_v3/control_node.h
+++ b/include/behaviortree_cpp_v3/control_node.h
@@ -42,6 +42,7 @@ class ControlNode : public TreeNode
 
   virtual void halt() override;
 
+  /// same as resetChildren()
   void haltChildren();
 
   [[deprecated("deprecated: please use explicitly haltChildren() or haltChild(i)")]] void
@@ -53,5 +54,9 @@ class ControlNode : public TreeNode
   {
     return NodeType::CONTROL;
   }
+
+  /// Set the status of all children to IDLE.
+  /// also send a halt() signal to all RUNNING children
+  void resetChildren();
 };
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/controls/switch_node.h b/include/behaviortree_cpp_v3/controls/switch_node.h
index 30b341594..596087fc7 100644
--- a/include/behaviortree_cpp_v3/controls/switch_node.h
+++ b/include/behaviortree_cpp_v3/controls/switch_node.h
@@ -119,7 +119,7 @@ inline NodeStatus SwitchNode<NUM_CASES>::tick()
   }
   else
   {
-    haltChildren();
+    resetChildren();
     running_child_ = -1;
   }
   return ret;
diff --git a/include/behaviortree_cpp_v3/decorator_node.h b/include/behaviortree_cpp_v3/decorator_node.h
index 546d62d7b..3b40dabc9 100644
--- a/include/behaviortree_cpp_v3/decorator_node.h
+++ b/include/behaviortree_cpp_v3/decorator_node.h
@@ -24,7 +24,7 @@ class DecoratorNode : public TreeNode
   /// The method used to interrupt the execution of this node
   virtual void halt() override;
 
-  /// Halt() the child node
+  /// Same as resetChild()
   void haltChild();
 
   virtual NodeType type() const override
@@ -33,6 +33,10 @@ class DecoratorNode : public TreeNode
   }
 
   NodeStatus executeTick() override;
+
+  /// Set the status of the child to IDLE.
+  /// also send a halt() signal to a RUNNING child
+  void resetChild();
 };
 
 /**
diff --git a/src/control_node.cpp b/src/control_node.cpp
index a25a2bdcb..4ec6a79fc 100644
--- a/src/control_node.cpp
+++ b/src/control_node.cpp
@@ -31,7 +31,19 @@ size_t ControlNode::childrenCount() const
 
 void ControlNode::halt()
 {
-  haltChildren();
+  resetChildren();
+}
+
+void ControlNode::resetChildren()
+{
+  for (auto child: children_nodes_)
+  {
+    if (child->status() == NodeStatus::RUNNING)
+    {
+      child->halt();
+    }
+    child->resetStatus();
+  }
 }
 
 const std::vector<TreeNode*>& ControlNode::children() const
diff --git a/src/controls/fallback_node.cpp b/src/controls/fallback_node.cpp
index d7fb1df54..fc580d4f7 100644
--- a/src/controls/fallback_node.cpp
+++ b/src/controls/fallback_node.cpp
@@ -38,7 +38,7 @@ NodeStatus FallbackNode::tick()
         return child_status;
       }
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -56,7 +56,7 @@ NodeStatus FallbackNode::tick()
   // The entire while loop completed. This means that all the children returned FAILURE.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
 
diff --git a/src/controls/if_then_else_node.cpp b/src/controls/if_then_else_node.cpp
index 7582f8de0..a5786ccae 100644
--- a/src/controls/if_then_else_node.cpp
+++ b/src/controls/if_then_else_node.cpp
@@ -71,7 +71,7 @@ NodeStatus IfThenElseNode::tick()
     }
     else
     {
-      haltChildren();
+      resetChildren();
       child_idx_ = 0;
       return status;
     }
diff --git a/src/controls/parallel_node.cpp b/src/controls/parallel_node.cpp
index 78ab08a16..bf1604388 100644
--- a/src/controls/parallel_node.cpp
+++ b/src/controls/parallel_node.cpp
@@ -97,7 +97,7 @@ NodeStatus ParallelNode::tick()
         if (success_childred_num == successThreshold())
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::SUCCESS;
         }
       }
@@ -116,7 +116,7 @@ NodeStatus ParallelNode::tick()
             (failure_childred_num == failureThreshold()))
         {
           skip_list_.clear();
-          haltChildren();
+          resetChildren();
           return NodeStatus::FAILURE;
         }
       }
diff --git a/src/controls/reactive_fallback.cpp b/src/controls/reactive_fallback.cpp
index c89d43e00..afab1144c 100644
--- a/src/controls/reactive_fallback.cpp
+++ b/src/controls/reactive_fallback.cpp
@@ -39,7 +39,7 @@ NodeStatus ReactiveFallback::tick()
       break;
 
       case NodeStatus::SUCCESS: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::SUCCESS;
       }
 
@@ -51,7 +51,7 @@ NodeStatus ReactiveFallback::tick()
 
   if (failure_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::FAILURE;
   }
 
diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
index 2e1d81289..efb843a0f 100644
--- a/src/controls/reactive_sequence.cpp
+++ b/src/controls/reactive_sequence.cpp
@@ -37,7 +37,7 @@ NodeStatus ReactiveSequence::tick()
       }
 
       case NodeStatus::FAILURE: {
-        haltChildren();
+        resetChildren();
         return NodeStatus::FAILURE;
       }
       case NodeStatus::SUCCESS: {
@@ -53,7 +53,7 @@ NodeStatus ReactiveSequence::tick()
 
   if (success_count == childrenCount())
   {
-    haltChildren();
+    resetChildren();
     return NodeStatus::SUCCESS;
   }
   return NodeStatus::RUNNING;
diff --git a/src/controls/sequence_node.cpp b/src/controls/sequence_node.cpp
index 11a224d51..9de146418 100644
--- a/src/controls/sequence_node.cpp
+++ b/src/controls/sequence_node.cpp
@@ -46,7 +46,7 @@ NodeStatus SequenceNode::tick()
       }
       case NodeStatus::FAILURE: {
         // Reset on failure
-        haltChildren();
+        resetChildren();
         current_child_idx_ = 0;
         return child_status;
       }
@@ -64,7 +64,7 @@ NodeStatus SequenceNode::tick()
   // The entire while loop completed. This means that all the children returned SUCCESS.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
   return NodeStatus::SUCCESS;
diff --git a/src/controls/sequence_star_node.cpp b/src/controls/sequence_star_node.cpp
index a697278ed..bdd65c358 100644
--- a/src/controls/sequence_star_node.cpp
+++ b/src/controls/sequence_star_node.cpp
@@ -60,7 +60,7 @@ NodeStatus SequenceStarNode::tick()
   // The entire while loop completed. This means that all the children returned SUCCESS.
   if (current_child_idx_ == children_count)
   {
-    haltChildren();
+    resetChildren();
     current_child_idx_ = 0;
   }
   return NodeStatus::SUCCESS;
diff --git a/src/controls/while_do_else_node.cpp b/src/controls/while_do_else_node.cpp
index 543eefae4..b0ecae3cc 100644
--- a/src/controls/while_do_else_node.cpp
+++ b/src/controls/while_do_else_node.cpp
@@ -62,7 +62,7 @@ NodeStatus WhileDoElseNode::tick()
   }
   else
   {
-    haltChildren();
+    resetChildren();
     return status;
   }
 }
diff --git a/src/decorator_node.cpp b/src/decorator_node.cpp
index c239e0dbd..263e16bf0 100644
--- a/src/decorator_node.cpp
+++ b/src/decorator_node.cpp
@@ -31,7 +31,7 @@ void DecoratorNode::setChild(TreeNode* child)
 
 void DecoratorNode::halt()
 {
-  haltChild();
+  resetChild();
 }
 
 const TreeNode* DecoratorNode::child() const
@@ -45,6 +45,11 @@ TreeNode* DecoratorNode::child()
 }
 
 void DecoratorNode::haltChild()
+{
+  resetChild();
+}
+
+void DecoratorNode::resetChild()
 {
   if (!child_node_)
   {
@@ -57,6 +62,7 @@ void DecoratorNode::haltChild()
   child_node_->resetStatus();
 }
 
+
 SimpleDecoratorNode::SimpleDecoratorNode(const std::string& name,
                                          TickFunctor tick_functor,
                                          const NodeConfiguration& config) :
diff --git a/src/decorators/delay_node.cpp b/src/decorators/delay_node.cpp
index a5962f231..daed76039 100644
--- a/src/decorators/delay_node.cpp
+++ b/src/decorators/delay_node.cpp
@@ -68,6 +68,7 @@ NodeStatus DelayNode::tick()
     {
       delay_started_ = false;
       delay_aborted_ = false;
+      resetChild();
     }
     return child_status;
   }
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
index caf60c815..5e325ff20 100644
--- a/src/decorators/inverter_node.cpp
+++ b/src/decorators/inverter_node.cpp
@@ -29,10 +29,12 @@ NodeStatus InverterNode::tick()
   switch (child_state)
   {
     case NodeStatus::SUCCESS: {
+      resetChild();
       return NodeStatus::FAILURE;
     }
 
     case NodeStatus::FAILURE: {
+      resetChild();
       return NodeStatus::SUCCESS;
     }
 
diff --git a/src/decorators/repeat_node.cpp b/src/decorators/repeat_node.cpp
index 1aa0d4a31..1925765ca 100644
--- a/src/decorators/repeat_node.cpp
+++ b/src/decorators/repeat_node.cpp
@@ -53,13 +53,13 @@ NodeStatus RepeatNode::tick()
     {
       case NodeStatus::SUCCESS: {
         repeat_count_++;
-        haltChild();
+        resetChild();
       }
       break;
 
       case NodeStatus::FAILURE: {
         repeat_count_ = 0;
-        haltChild();
+        resetChild();
         return (NodeStatus::FAILURE);
       }
 
diff --git a/src/decorators/retry_node.cpp b/src/decorators/retry_node.cpp
index 7cea25487..3fb2e4740 100644
--- a/src/decorators/retry_node.cpp
+++ b/src/decorators/retry_node.cpp
@@ -58,13 +58,13 @@ NodeStatus RetryNode::tick()
     {
       case NodeStatus::SUCCESS: {
         try_count_ = 0;
-        haltChild();
+        resetChild();
         return (NodeStatus::SUCCESS);
       }
 
       case NodeStatus::FAILURE: {
         try_count_++;
-        haltChild();
+        resetChild();
       }
       break;
 
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
index b3bb257f7..fa8469f40 100644
--- a/src/decorators/subtree_node.cpp
+++ b/src/decorators/subtree_node.cpp
@@ -12,7 +12,13 @@ BT::NodeStatus BT::SubtreeNode::tick()
   {
     setStatus(NodeStatus::RUNNING);
   }
-  return child_node_->executeTick();
+  auto status = child_node_->executeTick();
+  if(status != NodeStatus::RUNNING)
+  {
+    resetChild();
+  }
+
+  return status;
 }
 
 //--------------------------------

From 00b7d60966895bb31bac92ee1a08c6e4bdee3bb8 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 5 Jan 2023 10:36:30 +0100
Subject: [PATCH 17/55] changelog

---
 CHANGELOG.rst | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 0d4c5dd8e..ac5a7fca3 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* rebane haltChildren to resetChildren
+* revert `#329 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/329>`_
+* Contributors: Davide Faconti
+
 3.8.1 (2022-11-27)
 ------------------
 * fix catkin installation `#478 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/478>`_

From 24a04238bafa1b399ccdec1297c831adce49a285 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 5 Jan 2023 10:36:44 +0100
Subject: [PATCH 18/55] 3.8.2

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ac5a7fca3..8b3c8c56c 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.2 (2023-01-05)
+------------------
 * rebane haltChildren to resetChildren
 * revert `#329 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/329>`_
 * Contributors: Davide Faconti
diff --git a/package.xml b/package.xml
index 729cad80c..90153e90b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.1</version>
+  <version>3.8.2</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 9d7576dddd687998cfbfd8482a3e9e1c8a5b275b Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 25 Jan 2023 10:40:12 +0100
Subject: [PATCH 19/55] fix in SharedLibrary and cosmetic changes to the code

---
 include/behaviortree_cpp_v3/bt_factory.h      | 50 +++++++++----------
 .../utils/shared_library.h                    | 30 +++++------
 2 files changed, 39 insertions(+), 41 deletions(-)

diff --git a/include/behaviortree_cpp_v3/bt_factory.h b/include/behaviortree_cpp_v3/bt_factory.h
index 718996977..1b0e49cd9 100644
--- a/include/behaviortree_cpp_v3/bt_factory.h
+++ b/include/behaviortree_cpp_v3/bt_factory.h
@@ -81,40 +81,38 @@ inline TreeNodeManifest CreateManifest(const std::string& ID,
   return {getType<T>(), ID, portlist, {}};
 }
 
-constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
+#ifdef BT_PLUGIN_EXPORT
 
-#ifndef BT_PLUGIN_EXPORT
+#if defined(_WIN32)
+  #define BTCPP_EXPORT extern "C" __declspec(dllexport)
+#else
+  // Unix-like OSes
+  #define BTCPP_EXPORT extern "C" __attribute__ ((visibility ("default")))
+#endif
 
+#else
+  #define BTCPP_EXPORT
+#endif
 /* Use this macro to automatically register one or more custom Nodes
-into a factory. For instance:
-
-BT_REGISTER_NODES(factory)
-{
-    factory.registerNodeType<MoveBaseAction>("MoveBase");
-}
+* into a factory. For instance:
+*
+*   BT_REGISTER_NODES(factory)
+*   {
+*     factory.registerNodeType<MoveBaseAction>("MoveBase");
+*   }
+*
+* IMPORTANT: this function MUST be declared in a cpp file, NOT a header file.
+* In your cake, you must add the definition [BT_PLUGIN_EXPORT] with:
+*
+*   target_compile_definitions(my_plugin_target PRIVATE  BT_PLUGIN_EXPORT )
 
-IMPORTANT: this must funtion MUST be declared in a cpp file, NOT a header file.
-See examples for more information about configuring CMake correctly
+* See examples in sample_nodes directory.
 */
-#define BT_REGISTER_NODES(factory)                                                       \
-  static void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-
-#else
-
-#if defined(__linux__) || defined __APPLE__
-
-#define BT_REGISTER_NODES(factory)                                                       \
-  extern "C" void __attribute__((visibility("default")))                                 \
-  BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-
-#elif _WIN32
 
 #define BT_REGISTER_NODES(factory)                                                       \
-  extern "C" void __declspec(dllexport)                                                  \
-      BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
-#endif
+  static BTCPP_EXPORT void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
 
-#endif
+constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
 
 /**
  * @brief Struct used to store a tree.
diff --git a/include/behaviortree_cpp_v3/utils/shared_library.h b/include/behaviortree_cpp_v3/utils/shared_library.h
index 1ef19d8cd..c807b6262 100644
--- a/include/behaviortree_cpp_v3/utils/shared_library.h
+++ b/include/behaviortree_cpp_v3/utils/shared_library.h
@@ -51,13 +51,12 @@ class SharedLibrary
 public:
   enum Flags
   {
-    SHLIB_GLOBAL = 1,
     /// On platforms that use dlopen(), use RTLD_GLOBAL. This is the default
     /// if no flags are given.
     ///
     /// This flag is ignored on platforms that do not use dlopen().
+    SHLIB_GLOBAL = 1,
 
-    SHLIB_LOCAL = 2
     /// On platforms that use dlopen(), use RTLD_LOCAL instead of RTLD_GLOBAL.
     ///
     /// Note that if this flag is specified, RTTI (including dynamic_cast and throw) will
@@ -65,21 +64,21 @@ class SharedLibrary
     /// compilers as well. See http://gcc.gnu.org/faq.html#dso for more information.
     ///
     /// This flag is ignored on platforms that do not use dlopen().
+    SHLIB_LOCAL = 2
   };
 
-  SharedLibrary();
   /// Creates a SharedLibrary object.
+  SharedLibrary();
 
-  SharedLibrary(const std::string& path, int flags = 0);
   /// Creates a SharedLibrary object and loads a library
   /// from the given path, using the given flags.
   /// See the Flags enumeration for valid values.
+  SharedLibrary(const std::string& path, int flags = 0);
 
-  virtual ~SharedLibrary() = default;
   /// Destroys the SharedLibrary. The actual library
   /// remains loaded.
+  virtual ~SharedLibrary() = default;
 
-  void load(const std::string& path, int flags = 0);
   /// Loads a shared library from the given path,
   /// using the given flags. See the Flags enumeration
   /// for valid values.
@@ -87,45 +86,46 @@ class SharedLibrary
   /// a library has already been loaded.
   /// Throws a LibraryLoadException if the library
   /// cannot be loaded.
+  void load(const std::string& path, int flags = 0);
 
-  void unload();
   /// Unloads a shared library.
+  void unload();
 
-  bool isLoaded() const;
   /// Returns true iff a library has been loaded.
+  bool isLoaded() const;
 
-  bool hasSymbol(const std::string& name);
   /// Returns true iff the loaded library contains
   /// a symbol with the given name.
+  bool hasSymbol(const std::string& name);
 
-  void* getSymbol(const std::string& name);
   /// Returns the address of the symbol with
   /// the given name. For functions, this
   /// is the entry point of the function.
   /// Throws a NotFoundException if the symbol
   /// does not exist.
+  void* getSymbol(const std::string& name);
 
-  const std::string& getPath() const;
   /// Returns the path of the library, as
   /// specified in a call to load() or the
   /// constructor.
+  const std::string& getPath() const;
 
-  static std::string prefix();
   /// Returns the platform-specific filename prefix
   /// for shared libraries.
   /// Most platforms would return "lib" as prefix, while
   /// on Cygwin, the "cyg" prefix will be returned.
+  static std::string prefix();
 
-  static std::string suffix();
   /// Returns the platform-specific filename suffix
   /// for shared libraries (including the period).
   /// In debug mode, the suffix also includes a
   /// "d" to specify the debug version of a library.
+  static std::string suffix();
 
-  static std::string getOSName(const std::string& name);
   /// Returns the platform-specific filename
   /// for shared libraries by prefixing and suffixing name
   /// with prefix() and suffix()
+  static std::string getOSName(const std::string& name);
 
 private:
   SharedLibrary(const SharedLibrary&);
@@ -134,7 +134,7 @@ class SharedLibrary
   void* findSymbol(const std::string& name);
 
   std::string _path;
-  void* _handle;
+  void* _handle = nullptr;
   std::mutex _mutex;
 };
 

From d9c0a402ce16df64e5483e2143bb3ff096f52291 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 25 Jan 2023 11:01:54 +0100
Subject: [PATCH 20/55] fix and warnings added

---
 include/behaviortree_cpp_v3/bt_factory.h |  4 ++--
 src/bt_factory.cpp                       | 15 +++++++++++++++
 2 files changed, 17 insertions(+), 2 deletions(-)

diff --git a/include/behaviortree_cpp_v3/bt_factory.h b/include/behaviortree_cpp_v3/bt_factory.h
index 1b0e49cd9..dcad95309 100644
--- a/include/behaviortree_cpp_v3/bt_factory.h
+++ b/include/behaviortree_cpp_v3/bt_factory.h
@@ -91,7 +91,7 @@ inline TreeNodeManifest CreateManifest(const std::string& ID,
 #endif
 
 #else
-  #define BTCPP_EXPORT
+  #define BTCPP_EXPORT static
 #endif
 /* Use this macro to automatically register one or more custom Nodes
 * into a factory. For instance:
@@ -110,7 +110,7 @@ inline TreeNodeManifest CreateManifest(const std::string& ID,
 */
 
 #define BT_REGISTER_NODES(factory)                                                       \
-  static BTCPP_EXPORT void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
+  BTCPP_EXPORT void BT_RegisterNodesFromPlugin(BT::BehaviorTreeFactory& factory)
 
 constexpr const char* PLUGIN_SYMBOL = "BT_RegisterNodesFromPlugin";
 
diff --git a/src/bt_factory.cpp b/src/bt_factory.cpp
index 62fd6f32b..7f32047a4 100644
--- a/src/bt_factory.cpp
+++ b/src/bt_factory.cpp
@@ -278,6 +278,13 @@ const std::set<std::string>& BehaviorTreeFactory::builtinNodes() const
 Tree BehaviorTreeFactory::createTreeFromText(const std::string& text,
                                              Blackboard::Ptr blackboard)
 {
+  if(!parser_->registeredBehaviorTrees().empty()) {
+    std::cout << "WARNING: You executed BehaviorTreeFactory::createTreeFromText "
+                 "after registerBehaviorTreeFrom[File/Text].\n"
+                 "This is NOTm probably, what you want to do.\n"
+                 "You should probably use BehaviorTreeFactory::createTree, instead"
+              << std::endl;
+  }
   XMLParser parser(*this);
   parser.loadFromText(text);
   auto tree = parser.instantiateTree(blackboard);
@@ -288,6 +295,14 @@ Tree BehaviorTreeFactory::createTreeFromText(const std::string& text,
 Tree BehaviorTreeFactory::createTreeFromFile(const std::string& file_path,
                                              Blackboard::Ptr blackboard)
 {
+  if(!parser_->registeredBehaviorTrees().empty()) {
+    std::cout << "WARNING: You executed BehaviorTreeFactory::createTreeFromFile "
+                 "after registerBehaviorTreeFrom[File/Text].\n"
+                 "This is NOTm probably, what you want to do.\n"
+                 "You should probably use BehaviorTreeFactory::createTree, instead"
+              << std::endl;
+  }
+
   XMLParser parser(*this);
   parser.loadFromFile(file_path);
   auto tree = parser.instantiateTree(blackboard);

From d8c179dfe68b781eaae6888132c6c21d3e1b2ca2 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 1 Mar 2023 21:01:21 +0100
Subject: [PATCH 21/55] prepare release

---
 CHANGELOG.rst | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 8b3c8c56c..8db998d50 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* 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

From 69de333e820a9db36d4075bb5627bc4a69bd295d Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 1 Mar 2023 21:01:35 +0100
Subject: [PATCH 22/55] 3.8.3

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 8db998d50..d48d94e9e 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.3 (2023-03-01)
+------------------
 * fix and warnings added
 * fix in SharedLibrary and cosmetic changes to the code
 * Contributors: Davide Faconti
diff --git a/package.xml b/package.xml
index 90153e90b..644cf0629 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.2</version>
+  <version>3.8.3</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 2327e7eeb60c0639b1cb13914a0de6b185144e52 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 14 Mar 2023 13:22:43 +0100
Subject: [PATCH 23/55] unit test added

---
 tests/gtest_fallback.cpp | 51 ++++++++++++++++++++++++++++++++++++++++
 1 file changed, 51 insertions(+)

diff --git a/tests/gtest_fallback.cpp b/tests/gtest_fallback.cpp
index 0ea701d30..203a53181 100644
--- a/tests/gtest_fallback.cpp
+++ b/tests/gtest_fallback.cpp
@@ -14,6 +14,7 @@
 #include "action_test_node.h"
 #include "condition_test_node.h"
 #include "behaviortree_cpp_v3/behavior_tree.h"
+#include "behaviortree_cpp_v3/bt_factory.h"
 
 using BT::NodeStatus;
 using std::chrono::milliseconds;
@@ -310,3 +311,53 @@ TEST_F(ComplexFallbackWithMemoryTest, Action1Failed)
   ASSERT_EQ(NodeStatus::FAILURE, action_1.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_2.status());
 }
+
+
+TEST(FallbackAndRetry, FallbackAndRetry)
+{
+  using namespace BT;
+  static const char* xml_text = R"(
+
+  <root main_tree_to_execute="BehaviorTree">
+    <BehaviorTree ID="BehaviorTree">
+      <RetryUntilSuccessful num_attempts="2">
+        <Fallback>
+          <AsyncActionTest name="first"/>
+          <ForceFailure>
+            <AsyncActionTest name="second"/>
+          </ForceFailure>
+        </Fallback>
+      </RetryUntilSuccessful>
+    </BehaviorTree>
+  </root>
+ )";
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<AsyncActionTest>("AsyncActionTest");
+
+  auto tree = factory.createTreeFromText(xml_text);
+
+  std::vector<AsyncActionTest*> async;
+
+  for(auto node: tree.nodes) {
+    if(auto async_node = dynamic_cast<AsyncActionTest*>(node.get()) )
+    {
+      async.push_back(async_node);
+    }
+  }
+
+  ASSERT_EQ(async.size(), 2);
+  async[0]->setExpectedResult(NodeStatus::FAILURE);
+  async[1]->setExpectedResult(NodeStatus::SUCCESS);
+
+  auto res = tree.tickRootWhileRunning();
+
+  ASSERT_EQ(async[0]->failureCount(), 2);
+  ASSERT_EQ(async[0]->successCount(), 0);
+
+  ASSERT_EQ(async[1]->failureCount(), 0);
+  ASSERT_EQ(async[1]->successCount(), 2);
+
+  ASSERT_EQ(NodeStatus::FAILURE, res);
+}
+

From c07223a6d065666bb19e34d085b04684dd424503 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 12 Apr 2023 10:59:06 +0200
Subject: [PATCH 24/55] bug fix: halting a Node must invoke the Loggers

---
 include/behaviortree_cpp_v3/tree_node.h | 2 +-
 src/tree_node.cpp                       | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/include/behaviortree_cpp_v3/tree_node.h b/include/behaviortree_cpp_v3/tree_node.h
index e057760b2..7b92735a0 100644
--- a/include/behaviortree_cpp_v3/tree_node.h
+++ b/include/behaviortree_cpp_v3/tree_node.h
@@ -223,7 +223,7 @@ class TreeNode
 
   std::shared_ptr<WakeUpSignal> wake_up_;
 
-  /// Set the status to IDLE
+  /// Equivalent to setStatus(NodeStatus::IDLE)
   void resetStatus();
 };
 
diff --git a/src/tree_node.cpp b/src/tree_node.cpp
index c6af29733..5cf7be9aa 100644
--- a/src/tree_node.cpp
+++ b/src/tree_node.cpp
@@ -78,8 +78,7 @@ void TreeNode::setStatus(NodeStatus new_status)
 
 void TreeNode::resetStatus()
 {
-  std::unique_lock<std::mutex> lock(state_mutex_);
-  status_ = NodeStatus::IDLE;
+  setStatus(NodeStatus::IDLE);
 }
 
 NodeStatus TreeNode::status() const

From 4b9aad95f8d6d7913b9a214dc6dcb8f3c618408c Mon Sep 17 00:00:00 2001
From: Daniel Muschick <daniel.muschick@best-research.eu>
Date: Tue, 18 Apr 2023 11:06:01 +0200
Subject: [PATCH 25/55] Fix issue #545

---
 src/xml_parsing.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
index 2ccad11cb..f30bd4748 100644
--- a/src/xml_parsing.cpp
+++ b/src/xml_parsing.cpp
@@ -165,6 +165,7 @@ void XMLParser::Pimpl::loadDocImpl(tinyxml2::XMLDocument* doc, bool add_includes
         std::string ros_pkg_path;
 #ifdef USING_ROS
         ros_pkg_path = ros::package::getPath(ros_pkg_relative_path);
+        file_path = filesystem::path(ros_pkg_path) / file_path;
 #elif defined USING_ROS2
         ros_pkg_path =
             ament_index_cpp::get_package_share_directory(ros_pkg_relative_path);

From 8119aea2b65e73112082adad9b28d3b008ae7a95 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Thu, 11 May 2023 12:05:51 +0200
Subject: [PATCH 26/55] backporting fixes from branch 4.x

---
 .../decorators/force_failure_node.h           | 22 ++++++-------------
 .../decorators/force_success_node.h           | 22 ++++++-------------
 .../keep_running_until_failure_node.h         |  6 ++++-
 .../decorators/timeout_node.h                 | 14 +++++++++---
 src/decorators/delay_node.cpp                 |  9 +++-----
 src/decorators/inverter_node.cpp              |  7 +++---
 src/decorators/subtree_node.cpp               |  8 ++++++-
 7 files changed, 43 insertions(+), 45 deletions(-)

diff --git a/include/behaviortree_cpp_v3/decorators/force_failure_node.h b/include/behaviortree_cpp_v3/decorators/force_failure_node.h
index 4eaebcfe3..d8e09d5d6 100644
--- a/include/behaviortree_cpp_v3/decorators/force_failure_node.h
+++ b/include/behaviortree_cpp_v3/decorators/force_failure_node.h
@@ -37,23 +37,15 @@ inline NodeStatus ForceFailureNode::tick()
 {
   setStatus(NodeStatus::RUNNING);
 
-  const NodeStatus child_state = child_node_->executeTick();
+  const NodeStatus child_status = child_node_->executeTick();
 
-  switch (child_state)
+  if(StatusCompleted(child_status))
   {
-    case NodeStatus::FAILURE:
-    case NodeStatus::SUCCESS: {
-      return NodeStatus::FAILURE;
-    }
-
-    case NodeStatus::RUNNING: {
-      return NodeStatus::RUNNING;
-    }
-
-    default: {
-      // TODO throw?
-    }
+    resetChild();
+    return NodeStatus::FAILURE;
   }
-  return status();
+
+  // RUNNING
+  return child_status;
 }
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/decorators/force_success_node.h b/include/behaviortree_cpp_v3/decorators/force_success_node.h
index 9e0c89ae7..307427f09 100644
--- a/include/behaviortree_cpp_v3/decorators/force_success_node.h
+++ b/include/behaviortree_cpp_v3/decorators/force_success_node.h
@@ -37,23 +37,15 @@ inline NodeStatus ForceSuccessNode::tick()
 {
   setStatus(NodeStatus::RUNNING);
 
-  const NodeStatus child_state = child_node_->executeTick();
+  const NodeStatus child_status = child_node_->executeTick();
 
-  switch (child_state)
+  if(StatusCompleted(child_status))
   {
-    case NodeStatus::FAILURE:
-    case NodeStatus::SUCCESS: {
-      return NodeStatus::SUCCESS;
-    }
-
-    case NodeStatus::RUNNING: {
-      return NodeStatus::RUNNING;
-    }
-
-    default: {
-      // TODO throw?
-    }
+    resetChild();
+    return NodeStatus::SUCCESS;
   }
-  return status();
+
+  // RUNNING
+  return child_status;
 }
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h b/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h
index 27f9bb8cd..44d79585e 100644
--- a/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h
+++ b/include/behaviortree_cpp_v3/decorators/keep_running_until_failure_node.h
@@ -43,9 +43,13 @@ inline NodeStatus KeepRunningUntilFailureNode::tick()
   switch (child_state)
   {
     case NodeStatus::FAILURE: {
+      resetChild();
       return NodeStatus::FAILURE;
     }
-    case NodeStatus::SUCCESS:
+    case NodeStatus::SUCCESS: {
+      resetChild();
+      return NodeStatus::RUNNING;
+    }
     case NodeStatus::RUNNING: {
       return NodeStatus::RUNNING;
     }
diff --git a/include/behaviortree_cpp_v3/decorators/timeout_node.h b/include/behaviortree_cpp_v3/decorators/timeout_node.h
index dd1bd67eb..188e6012c 100644
--- a/include/behaviortree_cpp_v3/decorators/timeout_node.h
+++ b/include/behaviortree_cpp_v3/decorators/timeout_node.h
@@ -77,8 +77,15 @@ class TimeoutNode : public DecoratorNode
       if (msec_ > 0)
       {
         timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
+          // Return immediately if the timer was aborted.
+          // This function could be invoked during destruction of this object and
+          // we don't want to access member variables if not needed.
+          if (aborted)
+          {
+            return;
+          }
           std::unique_lock<std::mutex> lk(timeout_mutex_);
-          if (!aborted && child()->status() == NodeStatus::RUNNING)
+          if (child()->status() == NodeStatus::RUNNING)
           {
             child_halted_ = true;
             haltChild();
@@ -97,13 +104,14 @@ class TimeoutNode : public DecoratorNode
     }
     else
     {
-      auto child_status = child()->executeTick();
-      if (child_status != NodeStatus::RUNNING)
+      const NodeStatus child_status = child()->executeTick();
+      if(StatusCompleted(child_status))
       {
         timeout_started_ = false;
         timeout_mutex_.unlock();
         timer_.cancel(timer_id_);
         timeout_mutex_.lock();
+        resetChild();
       }
       return child_status;
     }
diff --git a/src/decorators/delay_node.cpp b/src/decorators/delay_node.cpp
index daed76039..0be39ae12 100644
--- a/src/decorators/delay_node.cpp
+++ b/src/decorators/delay_node.cpp
@@ -42,13 +42,10 @@ NodeStatus DelayNode::tick()
 
     timer_id_ = timer_.add(std::chrono::milliseconds(msec_), [this](bool aborted) {
       std::unique_lock<std::mutex> lk(delay_mutex_);
-      if (!aborted)
+      delay_complete_ = (!aborted);
+      if(!aborted)
       {
-        delay_complete_ = true;
-      }
-      else
-      {
-        delay_aborted_ = true;
+        emitStateChanged();
       }
     });
   }
diff --git a/src/decorators/inverter_node.cpp b/src/decorators/inverter_node.cpp
index 5e325ff20..a268c66ba 100644
--- a/src/decorators/inverter_node.cpp
+++ b/src/decorators/inverter_node.cpp
@@ -23,10 +23,9 @@ InverterNode::InverterNode(const std::string& name) : DecoratorNode(name, {})
 NodeStatus InverterNode::tick()
 {
   setStatus(NodeStatus::RUNNING);
+  const NodeStatus child_status = child_node_->executeTick();
 
-  const NodeStatus child_state = child_node_->executeTick();
-
-  switch (child_state)
+  switch (child_status)
   {
     case NodeStatus::SUCCESS: {
       resetChild();
@@ -46,7 +45,7 @@ NodeStatus InverterNode::tick()
       throw LogicError("A child node must never return IDLE");
     }
   }
-  //return status();
+  return status();
 }
 
 }   // namespace BT
diff --git a/src/decorators/subtree_node.cpp b/src/decorators/subtree_node.cpp
index fa8469f40..f5e2f0b97 100644
--- a/src/decorators/subtree_node.cpp
+++ b/src/decorators/subtree_node.cpp
@@ -34,5 +34,11 @@ BT::NodeStatus BT::SubtreePlusNode::tick()
   {
     setStatus(NodeStatus::RUNNING);
   }
-  return child_node_->executeTick();
+  auto status = child_node_->executeTick();
+  if(status != NodeStatus::RUNNING)
+  {
+    resetChild();
+  }
+
+  return status;
 }

From 6fdc6ab1e352aa5bcd0c0ae5fe01f858e127e056 Mon Sep 17 00:00:00 2001
From: stevemacenski <stevenmacenski@gmail.com>
Date: Wed, 7 Jun 2023 15:42:57 -0700
Subject: [PATCH 27/55] changing resetStatus to public

---
 include/behaviortree_cpp_v3/tree_node.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/behaviortree_cpp_v3/tree_node.h b/include/behaviortree_cpp_v3/tree_node.h
index 7b92735a0..936fe54de 100644
--- a/include/behaviortree_cpp_v3/tree_node.h
+++ b/include/behaviortree_cpp_v3/tree_node.h
@@ -182,6 +182,9 @@ class TreeNode
   // Notify the tree should be ticked again()
   void emitStateChanged();
 
+  /// Equivalent to setStatus(NodeStatus::IDLE)
+  void resetStatus();
+
 protected:
   /// Method to be implemented by the user
   virtual BT::NodeStatus tick() = 0;
@@ -222,9 +225,6 @@ class TreeNode
   PostTickOverrideCallback post_condition_callback_;
 
   std::shared_ptr<WakeUpSignal> wake_up_;
-
-  /// Equivalent to setStatus(NodeStatus::IDLE)
-  void resetStatus();
 };
 
 //-------------------------------------------------------

From 533aaa00a9b572979589d94649f06e8f8f2f271b Mon Sep 17 00:00:00 2001
From: Steve Macenski <stevenmacenski@gmail.com>
Date: Thu, 8 Jun 2023 16:08:58 -0700
Subject: [PATCH 28/55] Update tree_node.h

---
 include/behaviortree_cpp_v3/tree_node.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/behaviortree_cpp_v3/tree_node.h b/include/behaviortree_cpp_v3/tree_node.h
index 936fe54de..d626d8619 100644
--- a/include/behaviortree_cpp_v3/tree_node.h
+++ b/include/behaviortree_cpp_v3/tree_node.h
@@ -182,9 +182,6 @@ class TreeNode
   // Notify the tree should be ticked again()
   void emitStateChanged();
 
-  /// Equivalent to setStatus(NodeStatus::IDLE)
-  void resetStatus();
-
 protected:
   /// Method to be implemented by the user
   virtual BT::NodeStatus tick() = 0;
@@ -203,6 +200,9 @@ class TreeNode
 
   void setStatus(NodeStatus new_status);
 
+  /// Equivalent to setStatus(NodeStatus::IDLE)
+  void resetStatus();
+
 private:
   const std::string name_;
 

From 10ab4e0ff3fc2f607fe88c38234bd86226d9f7d2 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sat, 10 Jun 2023 20:06:54 +0200
Subject: [PATCH 29/55] Issue563

---
 tests/gtest_subtree.cpp | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index 6410cf688..b89c36505 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -310,3 +310,39 @@ TEST(SubTree, SubtreeIssue433)
 
   ASSERT_EQ(ret, BT::NodeStatus::SUCCESS);
 }
+
+TEST(SubTree, SubtreeIssue563)
+{
+  static const char* xml_text = R"(
+<root main_tree_to_execute="Tree1">
+<include path="./navigation_tree.xml"/>
+
+<BehaviorTree ID="Tree1">
+  <Sequence>
+    <Action ID="SetBlackboard" output_key="the_message" value="hello"/>
+    <SubTreePlus ID="Tree2" __autoremap="true"/>
+  </Sequence>
+</BehaviorTree>
+
+<BehaviorTree ID="Tree2">
+    <SubTreePlus ID="Tree3" __autoremap="true"/>
+</BehaviorTree>
+
+<BehaviorTree ID="Tree3">
+    <SubTreePlus ID="NavigateTree" __autoremap="true"/>
+</BehaviorTree>
+
+<BehaviorTree ID="Talker">
+    <SaySomething message="{the_message}" />
+</BehaviorTree>
+
+</root>)";
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+
+  Tree tree = factory.createTreeFromText(xml_text);
+  auto ret = tree.tickRoot();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+
+}

From 73b7d0a3aef2a0b92682537405ed6c7044dca96c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sat, 10 Jun 2023 20:18:23 +0200
Subject: [PATCH 30/55] fix test

---
 tests/gtest_subtree.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index b89c36505..c99d5257f 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -315,11 +315,10 @@ TEST(SubTree, SubtreeIssue563)
 {
   static const char* xml_text = R"(
 <root main_tree_to_execute="Tree1">
-<include path="./navigation_tree.xml"/>
 
 <BehaviorTree ID="Tree1">
   <Sequence>
-    <Action ID="SetBlackboard" output_key="the_message" value="hello"/>
+    <SetBlackboard output_key="the_message" value="hello"/>
     <SubTreePlus ID="Tree2" __autoremap="true"/>
   </Sequence>
 </BehaviorTree>
@@ -329,7 +328,7 @@ TEST(SubTree, SubtreeIssue563)
 </BehaviorTree>
 
 <BehaviorTree ID="Tree3">
-    <SubTreePlus ID="NavigateTree" __autoremap="true"/>
+    <SubTreePlus ID="Talker" __autoremap="true"/>
 </BehaviorTree>
 
 <BehaviorTree ID="Talker">

From 02e8dc21f956a46ef0a9e78f0e04660f8a3c8c8a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 12 Jun 2023 09:57:44 +0200
Subject: [PATCH 31/55] fix issue #563

---
 include/behaviortree_cpp_v3/blackboard.h | 116 ++++++++++-------------
 include/behaviortree_cpp_v3/tree_node.h  |  36 ++++---
 src/blackboard.cpp                       | 104 ++++++++++----------
 src/xml_parsing.cpp                      |  22 +----
 tests/gtest_subtree.cpp                  |  13 +--
 5 files changed, 133 insertions(+), 158 deletions(-)

diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index 29b18542c..53ffb4595 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -40,6 +40,8 @@ class Blackboard
 
   virtual ~Blackboard() = default;
 
+  void enableAutoRemapping(bool remapping);
+
   /**
      * @brief The method getAny allow the user to access directly the type
      * erased value.
@@ -49,33 +51,15 @@ class Blackboard
   const Any* getAny(const std::string& key) const
   {
     std::unique_lock<std::mutex> lock(mutex_);
-    // search first if this port was remapped
-    if (auto parent = parent_bb_.lock())
-    {
-      auto remapping_it = internal_to_external_.find(key);
-      if (remapping_it != internal_to_external_.end())
-      {
-        return parent->getAny(remapping_it->second);
-      }
-    }
     auto it = storage_.find(key);
-    return (it == storage_.end()) ? nullptr : &(it->second.value);
+    return (it != storage_.end()) ? &(it->second->value) : nullptr;
   }
 
   Any* getAny(const std::string& key)
   {
-    std::unique_lock<std::mutex> lock(mutex_);
-    // search first if this port was remapped
-    if (auto parent = parent_bb_.lock())
-    {
-      auto remapping_it = internal_to_external_.find(key);
-      if (remapping_it != internal_to_external_.end())
-      {
-        return parent->getAny(remapping_it->second);
-      }
-    }
-    auto it = storage_.find(key);
-    return (it == storage_.end()) ? nullptr : &(it->second.value);
+    // "Avoid Duplication in const and Non-const Member Function,"
+    // on p. 23, in Item 3 "Use const whenever possible," in Effective C++, 3d ed
+    return const_cast<Any*>(static_cast<const Blackboard&>(*this).getAny(key));
   }
 
   /** Return true if the entry with the given key was found.
@@ -116,65 +100,54 @@ class Blackboard
     std::unique_lock<std::mutex> lock_entry(entry_mutex_);
     std::unique_lock<std::mutex> lock(mutex_);
 
-    // search first if this port was remapped.
-    // Change the parent_bb_ in that case
-    auto remapping_it = internal_to_external_.find(key);
-    if (remapping_it != internal_to_external_.end())
-    {
-      const auto& remapped_key = remapping_it->second;
-      if (auto parent = parent_bb_.lock())
-      {
-        parent->set(remapped_key, value);
-        return;
-      }
-    }
-
     // check local storage
     auto it = storage_.find(key);
+    std::shared_ptr<Entry> entry;
     if (it != storage_.end())
     {
-      const PortInfo& port_info = it->second.port_info;
-      auto& previous_any = it->second.value;
-      const auto previous_type = port_info.type();
+      entry = it->second;
+    }
+    else
+    {
+      lock.unlock();
+      entry = createEntryImpl(key, PortInfo());
+      entry->value = Any(value);
+      return;
+    }
 
-      Any new_value(value);
+    const PortInfo& port_info = entry->port_info;
+    auto& previous_any = entry->value;
+    const auto previous_type = port_info.type();
 
-      if (previous_type && *previous_type != typeid(T) &&
-          *previous_type != new_value.type())
+    Any new_value(value);
+
+    if (previous_type && *previous_type != typeid(T) &&
+        *previous_type != new_value.type())
+    {
+      bool mismatching = true;
+      if (std::is_constructible<StringView, T>::value)
       {
-        bool mismatching = true;
-        if (std::is_constructible<StringView, T>::value)
+        Any any_from_string = port_info.parseString(value);
+        if (any_from_string.empty() == false)
         {
-          Any any_from_string = port_info.parseString(value);
-          if (any_from_string.empty() == false)
-          {
-            mismatching = false;
-            new_value = std::move(any_from_string);
-          }
+          mismatching = false;
+          new_value = std::move(any_from_string);
         }
+      }
 
-        if (mismatching)
-        {
-          debugMessage();
+      if (mismatching)
+      {
+        debugMessage();
 
-          throw LogicError("Blackboard::set() failed: once declared, the type of a port "
-                           "shall not change. "
-                           "Declared type [",
-                           BT::demangle(previous_type), "] != current type [",
-                           BT::demangle(typeid(T)), "]");
-        }
+        throw LogicError("Blackboard::set() failed: once declared, the type of a port "
+                         "shall not change. Declared type [",
+                         BT::demangle(previous_type), "] != current type [",
+                         BT::demangle(typeid(T)), "]");
       }
-      previous_any = std::move(new_value);
     }
-    else
-    {   // create for the first time without any info
-      storage_.emplace(key, Entry(Any(value), PortInfo()));
-    }
-    return;
+    previous_any = std::move(new_value);
   }
 
-  void setPortInfo(std::string key, const PortInfo& info);
-
   const PortInfo* portInfo(const std::string& key);
 
   void addSubtreeRemapping(StringView internal, StringView external);
@@ -197,6 +170,11 @@ class Blackboard
     return entry_mutex_;
   }
 
+  void createEntry(const std::string& key, const PortInfo& info)
+  {
+    createEntryImpl(key, info);
+  }
+
 private:
   struct Entry
   {
@@ -211,11 +189,15 @@ class Blackboard
     {}
   };
 
+  std::shared_ptr<Entry> createEntryImpl(const std::string& key, const PortInfo& info);
+
   mutable std::mutex mutex_;
   mutable std::mutex entry_mutex_;
-  std::unordered_map<std::string, Entry> storage_;
+  std::unordered_map<std::string, std::shared_ptr<Entry>> storage_;
   std::weak_ptr<Blackboard> parent_bb_;
   std::unordered_map<std::string, std::string> internal_to_external_;
+
+  bool autoremapping_ = false;
 };
 
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/tree_node.h b/include/behaviortree_cpp_v3/tree_node.h
index d626d8619..d6d203125 100644
--- a/include/behaviortree_cpp_v3/tree_node.h
+++ b/include/behaviortree_cpp_v3/tree_node.h
@@ -258,24 +258,30 @@ inline Result TreeNode::getInput(const std::string& key, T& destination) const
 
     std::unique_lock<std::mutex> entry_lock(config_.blackboard->entryMutex());
     const Any* val = config_.blackboard->getAny(static_cast<std::string>(remapped_key));
-    if (val && val->empty() == false)
+
+    if(!val)
     {
-      if (std::is_same<T, std::string>::value == false &&
-          val->type() == typeid(std::string))
-      {
-        destination = convertFromString<T>(val->cast<std::string>());
-      }
-      else
-      {
-        destination = val->cast<T>();
-      }
-      return {};
+      return nonstd::make_unexpected(StrCat("getInput() failed because it was unable to "
+                                     "find the port [", key,
+                                     "] remapped to BB [", remapped_key, "]"));
+    }
+
+    if(val->empty())
+    {
+      return nonstd::make_unexpected(StrCat("getInput() failed because the port [", key,
+                                            "] remapped to BB [", remapped_key, "] was found,"
+                                            "but its content was not initialized correctly"));
     }
 
-    return nonstd::make_unexpected(StrCat("getInput() failed because it was unable to "
-                                          "find the "
-                                          "key [",
-                                          key, "] remapped to [", remapped_key, "]"));
+    if (!std::is_same<T, std::string>::value && val->type() == typeid(std::string))
+    {
+      destination = convertFromString<T>(val->cast<std::string>());
+    }
+    else
+    {
+      destination = val->cast<T>();
+    }
+    return {};
   }
   catch (std::exception& err)
   {
diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index ed64f6a7c..7ad14dee1 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -2,59 +2,17 @@
 
 namespace BT
 {
-void Blackboard::setPortInfo(std::string key, const PortInfo& info)
+void Blackboard::enableAutoRemapping(bool remapping)
 {
-  std::unique_lock<std::mutex> lock(mutex_);
-
-  if (auto parent = parent_bb_.lock())
-  {
-    auto remapping_it = internal_to_external_.find(key);
-    if (remapping_it != internal_to_external_.end())
-    {
-      parent->setPortInfo(remapping_it->second, info);
-      return;
-    }
-  }
-
-  auto it = storage_.find(key);
-  if (it == storage_.end())
-  {
-    storage_.emplace(key, Entry(info));
-  }
-  else
-  {
-    auto old_type = it->second.port_info.type();
-    if (old_type && *old_type != *info.type())
-    {
-      throw LogicError("Blackboard::set() failed: once declared, the type of a "
-                       "port shall "
-                       "not change. "
-                       "Declared type [",
-                       BT::demangle(old_type), "] != current type [",
-                       BT::demangle(info.type()), "]");
-    }
-  }
+  autoremapping_ = remapping;
 }
 
 const PortInfo* Blackboard::portInfo(const std::string& key)
 {
   std::unique_lock<std::mutex> lock(mutex_);
 
-  if (auto parent = parent_bb_.lock())
-  {
-    auto remapping_it = internal_to_external_.find(key);
-    if (remapping_it != internal_to_external_.end())
-    {
-      return parent->portInfo(remapping_it->second);
-    }
-  }
-
   auto it = storage_.find(key);
-  if (it == storage_.end())
-  {
-    return nullptr;
-  }
-  return &(it->second.port_info);
+  return (it == storage_.end()) ? nullptr : &(it->second->port_info);
 }
 
 void Blackboard::addSubtreeRemapping(StringView internal, StringView external)
@@ -65,26 +23,29 @@ void Blackboard::addSubtreeRemapping(StringView internal, StringView external)
 
 void Blackboard::debugMessage() const
 {
-  for (const auto& entry_it : storage_)
+  for (const auto& it: storage_)
   {
-    auto port_type = entry_it.second.port_info.type();
+    const auto& key = it.first;
+    const auto& entry = it.second;
+
+    auto port_type = entry->port_info.type();
     if (!port_type)
     {
-      port_type = &(entry_it.second.value.type());
+      port_type = &(entry->value.type());
     }
 
-    std::cout << entry_it.first << " (" << demangle(port_type) << ") -> ";
+    std::cout << key << " (" << demangle(port_type) << ") -> ";
 
     if (auto parent = parent_bb_.lock())
     {
-      auto remapping_it = internal_to_external_.find(entry_it.first);
+      auto remapping_it = internal_to_external_.find(key);
       if (remapping_it != internal_to_external_.end())
       {
         std::cout << "remapped to parent [" << remapping_it->second << "]" << std::endl;
         continue;
       }
     }
-    std::cout << ((entry_it.second.value.empty()) ? "empty" : "full") << std::endl;
+    std::cout << ((entry->value.empty()) ? "empty" : "full") << std::endl;
   }
 }
 
@@ -103,4 +64,45 @@ std::vector<StringView> Blackboard::getKeys() const
   return out;
 }
 
+std::shared_ptr<Blackboard::Entry>
+Blackboard::createEntryImpl(const std::string &key, const PortInfo& info)
+{
+  std::unique_lock<std::mutex> lock(mutex_);
+  // This function might be called recursively, when we do remapping, because we move
+  // to the top scope to find already existing  entries
+
+  // search if exists already
+  auto storage_it = storage_.find(key);
+  if(storage_it != storage_.end())
+  {
+    return storage_it->second;
+  }
+
+  std::shared_ptr<Entry> entry;
+
+  // manual remapping first
+  auto remapping_it = internal_to_external_.find(key);
+  if (remapping_it != internal_to_external_.end())
+  {
+    const auto& remapped_key = remapping_it->second;
+    if (auto parent = parent_bb_.lock())
+    {
+      entry = parent->createEntryImpl(remapped_key, info);
+    }
+  }
+  else if(autoremapping_)
+  {
+    if (auto parent = parent_bb_.lock())
+    {
+      entry = parent->createEntryImpl(key, info);
+    }
+  }
+  else // not remapped, nor found. Create locally.
+  {
+    entry = std::make_shared<Entry>(info);
+  }
+  storage_.insert( {key, entry} );
+  return entry;
+}
+
 }   // namespace BT
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
index f30bd4748..5ce65ae92 100644
--- a/src/xml_parsing.cpp
+++ b/src/xml_parsing.cpp
@@ -574,7 +574,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
         if (!prev_info)
         {
           // not found, insert for the first time.
-          blackboard->setPortInfo(port_key, port_info);
+          blackboard->createEntry(port_key, port_info);
         }
         else
         {
@@ -708,8 +708,6 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
         output_tree.blackboard_stack.emplace_back(new_bb);
         std::set<StringView> mapped_keys;
 
-        bool do_autoremap = false;
-
         for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr;
              attr = attr->Next())
         {
@@ -722,7 +720,8 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
           }
           if (StrEqual(attr_name, "__autoremap"))
           {
-            do_autoremap = convertFromString<bool>(attr_value);
+            bool do_autoremap = convertFromString<bool>(attr_value);
+            new_bb->enableAutoRemapping(do_autoremap);
             continue;
           }
 
@@ -741,21 +740,6 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
           }
         }
 
-        if (do_autoremap)
-        {
-          std::vector<std::string> remapped_ports;
-          auto new_root_element = tree_roots[node->name()]->FirstChildElement();
-
-          getPortsRecursively(new_root_element, remapped_ports);
-          for (const auto& port : remapped_ports)
-          {
-            if (mapped_keys.count(port) == 0)
-            {
-              new_bb->addSubtreeRemapping(port, port);
-            }
-          }
-        }
-
         recursivelyCreateTree(node->name(), output_tree, new_bb, node);
       }
     }
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index c99d5257f..11b827a29 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -20,7 +20,7 @@ TEST(SubTree, SiblingPorts_Issue_72)
     </BehaviorTree>
 
     <BehaviorTree ID="mySubtree">
-            <SaySomething ID="AlwaysSuccess" message="{param}" />
+            <SaySomething message="{param}" />
     </BehaviorTree>
 </root> )";
 
@@ -146,16 +146,13 @@ TEST(SubTree, SubtreePlusA)
 
     <BehaviorTree ID="MainTree">
         <Sequence>
-            <SetBlackboard value="Hello" output_key="myParam" />
-            <SubTreePlus ID="mySubtree" param="{myParam}" />
-            <SubTreePlus ID="mySubtree" param="World" />
             <SetBlackboard value="Auto remapped" output_key="param" />
             <SubTreePlus ID="mySubtree" __autoremap="1"  />
         </Sequence>
     </BehaviorTree>
 
     <BehaviorTree ID="mySubtree">
-            <SaySomething message="{param}" />
+        <SaySomething message="{param}" />
     </BehaviorTree>
 </root> )";
 
@@ -318,8 +315,9 @@ TEST(SubTree, SubtreeIssue563)
 
 <BehaviorTree ID="Tree1">
   <Sequence>
-    <SetBlackboard output_key="the_message" value="hello"/>
+    <SetBlackboard output_key="the_message" value="hello world"/>
     <SubTreePlus ID="Tree2" __autoremap="true"/>
+    <SaySomething message="{reply}" />
   </Sequence>
 </BehaviorTree>
 
@@ -332,7 +330,10 @@ TEST(SubTree, SubtreeIssue563)
 </BehaviorTree>
 
 <BehaviorTree ID="Talker">
+  <Sequence>
     <SaySomething message="{the_message}" />
+    <SetBlackboard output_key="reply" value="done"/>
+  </Sequence>
 </BehaviorTree>
 
 </root>)";

From f40df1875d664362dbd8c375be006d797a672d5c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 12 Jun 2023 10:52:23 +0200
Subject: [PATCH 32/55] restore type check

---
 src/blackboard.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index 7ad14dee1..4caca037a 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -75,6 +75,14 @@ Blackboard::createEntryImpl(const std::string &key, const PortInfo& info)
   auto storage_it = storage_.find(key);
   if(storage_it != storage_.end())
   {
+    const auto old_type = storage_it->second->port_info.type();
+    if (old_type && info.type() && old_type != info.type())
+    {
+      throw LogicError("Blackboard: once declared, the type of a port "
+                       "shall not change. Previously declared type [",
+                       BT::demangle(old_type), "] != new type [",
+                       BT::demangle(info.type()), "]");
+    }
     return storage_it->second;
   }
 

From 90d7bf900b6a68474547ac78b2ba07c60c344e3c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 12 Jun 2023 11:29:51 +0200
Subject: [PATCH 33/55] better default port

---
 include/behaviortree_cpp_v3/blackboard.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index 53ffb4595..a3e1d054f 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -109,9 +109,10 @@ class Blackboard
     }
     else
     {
+      Any new_value(value);
       lock.unlock();
-      entry = createEntryImpl(key, PortInfo());
-      entry->value = Any(value);
+      entry = createEntryImpl(key, PortInfo(PortDirection::INOUT, new_value.type(), {}));
+      entry->value = new_value;
       return;
     }
 

From 9bec29314d09fc21c9b7b2c3f8b3e70d2b8123e4 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 18 Jun 2023 11:05:47 +0200
Subject: [PATCH 34/55] use lambda in tutorial

---
 examples/t01_build_your_first_tree.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/examples/t01_build_your_first_tree.cpp b/examples/t01_build_your_first_tree.cpp
index 6d7c95b09..de0cd3acb 100644
--- a/examples/t01_build_your_first_tree.cpp
+++ b/examples/t01_build_your_first_tree.cpp
@@ -59,14 +59,12 @@ int main()
 
   // Registering a SimpleActionNode using a function pointer.
   // you may also use C++11 lambdas instead of std::bind
-  factory.registerSimpleCondition("CheckBattery", std::bind(CheckBattery));
+  factory.registerSimpleCondition("CheckBattery", [&](TreeNode&) { return CheckBattery(); });
 
   //You can also create SimpleActionNodes using methods of a class
   GripperInterface gripper;
-  factory.registerSimpleAction("OpenGripper",
-                               std::bind(&GripperInterface::open, &gripper));
-  factory.registerSimpleAction("CloseGripper",
-                               std::bind(&GripperInterface::close, &gripper));
+  factory.registerSimpleAction("OpenGripper", [&](TreeNode&){ return gripper.open(); } );
+  factory.registerSimpleAction("CloseGripper", [&](TreeNode&){ return gripper.close(); } );
 
 #else
   // Load dynamically a plugin and register the TreeNodes it contains

From e2483442161fe6da691b10959098b7af89ba6063 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 25 Jun 2023 07:47:17 -0700
Subject: [PATCH 35/55] Issue 563 (#596)

* failing test

* fix issue 563 (?)

* better solution
---
 include/behaviortree_cpp_v3/blackboard.h | 14 ++++++++++-
 tests/gtest_subtree.cpp                  | 30 ++++++++++++++++++++++--
 2 files changed, 41 insertions(+), 3 deletions(-)

diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index a3e1d054f..99a39a9ca 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -52,7 +52,19 @@ class Blackboard
   {
     std::unique_lock<std::mutex> lock(mutex_);
     auto it = storage_.find(key);
-    return (it != storage_.end()) ? &(it->second->value) : nullptr;
+
+    if(it == storage_.end())
+    {
+      // Try with autoremapping. This should work recursively
+      if(autoremapping_)
+      {
+        if(auto parent = parent_bb_.lock()) {
+          return parent->getAny(key);
+        }
+      }
+      return nullptr;
+    }
+    return &(it->second->value);
   }
 
   Any* getAny(const std::string& key)
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index 11b827a29..318c22030 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -308,6 +308,27 @@ TEST(SubTree, SubtreeIssue433)
   ASSERT_EQ(ret, BT::NodeStatus::SUCCESS);
 }
 
+
+class NaughtyNav2Node : public BT::SyncActionNode
+{
+public:
+  NaughtyNav2Node(const std::string& name, const BT::NodeConfiguration& config) :
+    BT::SyncActionNode(name, config)
+  {
+    std::cout << "CTOR:" << config.blackboard->get<std::string>("ros_node") << std::endl;
+  }
+
+  BT::NodeStatus tick() override
+  {
+    std::cout << "tick:" << config().blackboard->get<std::string>("ros_node") << std::endl;
+    return BT::NodeStatus::SUCCESS;
+  }
+  static BT::PortsList providedPorts()
+  {
+    return {};
+  }
+};
+
 TEST(SubTree, SubtreeIssue563)
 {
   static const char* xml_text = R"(
@@ -333,6 +354,7 @@ TEST(SubTree, SubtreeIssue563)
   <Sequence>
     <SaySomething message="{the_message}" />
     <SetBlackboard output_key="reply" value="done"/>
+    <NaughtyNav2Node/>
   </Sequence>
 </BehaviorTree>
 
@@ -340,9 +362,13 @@ TEST(SubTree, SubtreeIssue563)
 
   BehaviorTreeFactory factory;
   factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerNodeType<NaughtyNav2Node>("NaughtyNav2Node");
+
+  auto blackboard = BT::Blackboard::create();
+  blackboard->set<std::string>("ros_node", "nav2_shouldnt_do_this");
+
+  Tree tree = factory.createTreeFromText(xml_text, blackboard);
 
-  Tree tree = factory.createTreeFromText(xml_text);
   auto ret = tree.tickRoot();
   ASSERT_EQ(ret, NodeStatus::SUCCESS);
-
 }

From d9a21468f33540d0caaf7a08bad3afef4aacaa2a Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 25 Jun 2023 07:47:49 -0700
Subject: [PATCH 36/55] Update ros1.yaml

---
 .github/workflows/ros1.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/ros1.yaml b/.github/workflows/ros1.yaml
index 524552c36..06bbbb1a1 100644
--- a/.github/workflows/ros1.yaml
+++ b/.github/workflows/ros1.yaml
@@ -7,7 +7,6 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic, ROS_REPO: main}
           - {ROS_DISTRO: noetic, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:

From 96843d18481e10e0b09e37b86bb1b93121f7d84c Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Sun, 25 Jun 2023 07:48:02 -0700
Subject: [PATCH 37/55] Update ros2.yaml

---
 .github/workflows/ros2.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ros2.yaml b/.github/workflows/ros2.yaml
index 9f8c5e764..f55d0be9b 100644
--- a/.github/workflows/ros2.yaml
+++ b/.github/workflows/ros2.yaml
@@ -7,7 +7,7 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: eloquent, ROS_REPO: main}
+          - {ROS_DISTRO: humble, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1

From ada098139584d6191140ed3df707ded7ae4c8e84 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 28 Jun 2023 23:03:02 +0200
Subject: [PATCH 38/55] changelog

---
 CHANGELOG.rst | 29 +++++++++++++++++++++++++++++
 1 file changed, 29 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d48d94e9e..b484077ae 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,35 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Update ros2.yaml
+* Update ros1.yaml
+* Issue 563 (`#596 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/596>`_)
+  * failing test
+  * fix issue 563 (?)
+  * better solution
+* use lambda in tutorial
+* Merge pull request `#583 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/583>`_ from BehaviorTree/issue563
+  Issue563
+* better default port
+* restore type check
+* fix issue `#563 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/563>`_
+* fix test
+* Issue563
+* Merge pull request `#579 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/546>`_ from divbyzerofordummies/fix_ROS_include
+  Fix issue `#545 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/545>`_
+* Fix issue `#545 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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

From 8c204c5163ff0989b302aee5bc22ed7322a11ea4 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 28 Jun 2023 23:03:14 +0200
Subject: [PATCH 39/55] 3.8.4

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index b484077ae..f084cbcf2 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.4 (2023-06-28)
+------------------
 * Update ros2.yaml
 * Update ros1.yaml
 * Issue 563 (`#596 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/596>`_)
diff --git a/package.xml b/package.xml
index 644cf0629..96874e073 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.3</version>
+  <version>3.8.4</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 74cd9aa2daed5c59fee08661bd66e30f2c7a4b9f Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 14 Aug 2023 01:09:20 -0700
Subject: [PATCH 40/55] fixing issue #623: port type check backported from v4

---
 include/behaviortree_cpp_v3/basic_types.h |  5 ++++
 src/xml_parsing.cpp                       | 32 ++++++++++++++---------
 tests/gtest_subtree.cpp                   | 28 ++++++++++++++++++++
 3 files changed, 52 insertions(+), 13 deletions(-)

diff --git a/include/behaviortree_cpp_v3/basic_types.h b/include/behaviortree_cpp_v3/basic_types.h
index 9572d2497..edfa7aa4b 100644
--- a/include/behaviortree_cpp_v3/basic_types.h
+++ b/include/behaviortree_cpp_v3/basic_types.h
@@ -253,6 +253,11 @@ class PortInfo
 
   const std::string& defaultValue() const;
 
+  bool isStronglyTyped() const
+  {
+    return _info != nullptr;
+  }
+
 private:
   PortDirection _type;
   const std::type_info* _info;
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
index 5ce65ae92..da3aa9d17 100644
--- a/src/xml_parsing.cpp
+++ b/src/xml_parsing.cpp
@@ -565,23 +565,24 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
         continue;
       }
       StringView param_value = remap_it->second;
-      auto param_res = TreeNode::getRemappedKey(port_name, param_value);
-      if (param_res)
+
+      if (auto param_res = TreeNode::getRemappedKey(port_name, param_value))
       {
+        // port_key will contain the key to find the entry in the blackboard
         const auto port_key = static_cast<std::string>(param_res.value());
 
-        auto prev_info = blackboard->portInfo(port_key);
-        if (!prev_info)
+        // if the entry already exists, check that the type is the same
+        if (auto prev_info = blackboard->portInfo(port_key))
         {
-          // not found, insert for the first time.
-          blackboard->createEntry(port_key, port_info);
-        }
-        else
-        {
-          // found. check consistency
-          if (prev_info->type() &&
-              port_info.type() &&   // null type means that everything is valid
-              *prev_info->type() != *port_info.type())
+          bool const port_type_mismatch = (prev_info->isStronglyTyped() &&
+                                           port_info.isStronglyTyped() &&
+                                           *prev_info->type() != *port_info.type());
+
+          // special case related to convertFromString
+          bool const string_input = ( prev_info->type() &&
+              *prev_info->type() == typeid(std::string));
+
+          if (port_type_mismatch && !string_input)
           {
             blackboard->debugMessage();
 
@@ -591,6 +592,11 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
                                demangle(port_info.type()), "] was used somewhere else.");
           }
         }
+        else
+        {
+          // not found, insert for the first time.
+          blackboard->createEntry(port_key, port_info);
+        }
       }
     }
 
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index 318c22030..444dc00c6 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -1,6 +1,7 @@
 #include <gtest/gtest.h>
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "../sample_nodes/dummy_nodes.h"
+#include "../sample_nodes/movebase_node.h"
 
 using namespace BT;
 
@@ -372,3 +373,30 @@ TEST(SubTree, SubtreeIssue563)
   auto ret = tree.tickRoot();
   ASSERT_EQ(ret, NodeStatus::SUCCESS);
 }
+
+TEST(SubTree, String_to_Pose_Issue623)
+{
+  // clang-format off
+
+  static const char* xml_text = R"(
+<root main_tree_to_execute="Test">
+  <BehaviorTree ID="Test">
+    <ReactiveSequence name="MainSequence">
+      <SubTreePlus name="Visit2" ID="Visit2" tl1="1;2;3"/>
+    </ReactiveSequence>
+  </BehaviorTree>
+  <BehaviorTree ID="Visit2">
+    <Sequence name="Visit2MainSequence">
+      <Action name="MoveBase" ID="MoveBase" goal="{tl1}"/>
+    </Sequence>
+  </BehaviorTree>
+</root>
+ )";
+
+  // clang-format on
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<MoveBaseAction>("MoveBase");
+  auto tree = factory.createTreeFromText(xml_text);
+  tree.tickRootWhileRunning();
+}

From dfa3fe9c14f942529d957f8c3061ba528ced8754 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 14 Aug 2023 10:15:51 +0200
Subject: [PATCH 41/55] changelog updated

---
 CHANGELOG.rst | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index f084cbcf2..1b4dc4126 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+
 3.8.4 (2023-06-28)
 ------------------
 * Update ros2.yaml

From 2fb11758ea4b1ab1f9501fe1032e7c28684fe3f6 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Mon, 14 Aug 2023 10:17:20 +0200
Subject: [PATCH 42/55] 3.8.5

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 1b4dc4126..424c14f04 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.5 (2023-08-14)
+------------------
 
 3.8.4 (2023-06-28)
 ------------------
diff --git a/package.xml b/package.xml
index 96874e073..b3887c5f6 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.4</version>
+  <version>3.8.5</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 51f92c49c2ed258b773960d3762c7cbbcf748f78 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 23 Aug 2023 10:29:26 +0200
Subject: [PATCH 43/55] backport changes in 4.x and fix #643

---
 src/controls/reactive_fallback.cpp |  5 ++-
 src/controls/reactive_sequence.cpp |  8 ++--
 tests/CMakeLists.txt               |  1 +
 tests/gtest_reactive.cpp           | 69 ++++++++++++++++++++++++++++++
 tests/test_helper.hpp              | 27 ++++++++++++
 5 files changed, 105 insertions(+), 5 deletions(-)
 create mode 100644 tests/gtest_reactive.cpp
 create mode 100644 tests/test_helper.hpp

diff --git a/src/controls/reactive_fallback.cpp b/src/controls/reactive_fallback.cpp
index afab1144c..f5a7fb18e 100644
--- a/src/controls/reactive_fallback.cpp
+++ b/src/controls/reactive_fallback.cpp
@@ -26,7 +26,10 @@ NodeStatus ReactiveFallback::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        for (size_t i = index + 1; i < childrenCount(); i++)
+
+        // reset the previous children, to make sure that they are in IDLE state
+        // the next time we tick them
+        for (size_t i = 0; i < index; i++)
         {
           haltChild(i);
         }
diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
index efb843a0f..5db10cf4c 100644
--- a/src/controls/reactive_sequence.cpp
+++ b/src/controls/reactive_sequence.cpp
@@ -17,7 +17,6 @@ namespace BT
 NodeStatus ReactiveSequence::tick()
 {
   size_t success_count = 0;
-  size_t running_count = 0;
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -27,9 +26,9 @@ NodeStatus ReactiveSequence::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        running_count++;
-
-        for (size_t i = index + 1; i < childrenCount(); i++)
+        // reset the previous children, to make sure that they are in IDLE state
+        // the next time we tick them
+        for (size_t i = 0; i < index; i++)
         {
           haltChild(i);
         }
@@ -51,6 +50,7 @@ NodeStatus ReactiveSequence::tick()
     }   // end switch
   }     //end for
 
+
   if (success_count == childrenCount())
   {
     resetChildren();
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 25352717b..434f32985 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -15,6 +15,7 @@ set(BT_TESTS
   gtest_blackboard.cpp
   gtest_blackboard_precondition.cpp
   gtest_ports.cpp
+  gtest_reactive.cpp
   navigation_test.cpp
   gtest_subtree.cpp
   gtest_switch.cpp
diff --git a/tests/gtest_reactive.cpp b/tests/gtest_reactive.cpp
new file mode 100644
index 000000000..b7df2b6c7
--- /dev/null
+++ b/tests/gtest_reactive.cpp
@@ -0,0 +1,69 @@
+#include <gtest/gtest.h>
+#include "behaviortree_cpp_v3/bt_factory.h"
+#include "test_helper.hpp"
+#include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
+
+using BT::NodeStatus;
+using std::chrono::milliseconds;
+
+class SleepNode : public BT::StatefulActionNode
+{
+public:
+
+  SleepNode(const std::string& name, const BT::NodeConfiguration& config):
+    StatefulActionNode(name, config) {}
+
+  NodeStatus onStart() override {
+    count_ = 0;
+    return NodeStatus::RUNNING;
+  }
+
+  NodeStatus onRunning() override {
+    return ++count_ < 10 ? NodeStatus::RUNNING : NodeStatus::SUCCESS;
+  }
+
+  void onHalted() override {}
+
+  static BT::PortsList providedPorts(){
+    return {};
+  }
+
+private:
+  int count_ = 0;
+};
+
+
+TEST(Reactive, TestLogging)
+{
+  using namespace BT;
+
+  static const char* reactive_xml_text = R"(
+<root>
+  <BehaviorTree ID="Main">
+    <ReactiveSequence>
+      <TestA name="testA"/>
+      <AlwaysSuccess name="success"/>
+      <Sleep/>
+    </ReactiveSequence>
+  </BehaviorTree>
+</root>
+)";
+
+  BehaviorTreeFactory factory;
+
+  factory.registerNodeType<SleepNode>("Sleep");
+
+  std::array<int, 1> counters;
+  RegisterTestTick(factory, "Test", counters);
+
+  auto tree = factory.createTreeFromText(reactive_xml_text);
+  StdCoutLogger logger(tree);
+
+  auto ret = tree.tickRootWhileRunning();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+
+  int num_ticks = counters[0];
+  ASSERT_GE(num_ticks, 10);
+}
+
+
diff --git a/tests/test_helper.hpp b/tests/test_helper.hpp
new file mode 100644
index 000000000..514923c0a
--- /dev/null
+++ b/tests/test_helper.hpp
@@ -0,0 +1,27 @@
+#ifndef TEST_HELPER_HPP
+#define TEST_HELPER_HPP
+
+#include "behaviortree_cpp_v3/bt_factory.h"
+
+inline BT::NodeStatus TestTick(int* tick_counter)
+{
+  (*tick_counter)++;
+  return BT::NodeStatus::SUCCESS;
+}
+
+template <size_t N> inline
+    void RegisterTestTick(BT::BehaviorTreeFactory& factory, const std::string& name_prefix,
+                     std::array<int, N>& tick_counters)
+{
+  for(size_t i=0; i<tick_counters.size(); i++)
+  {
+    tick_counters[i] = false;
+    char str[100];
+    sprintf(str, "%s%c", name_prefix.c_str(), char('A'+i ) );
+    int* counter_ptr = &(tick_counters[i]);
+    factory.registerSimpleAction(str, std::bind(&TestTick, counter_ptr));
+  }
+}
+
+
+#endif // TEST_HELPER_HPP

From 8f3901f6b920a44535d80943e8be854785bec690 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 23 Aug 2023 10:37:06 +0200
Subject: [PATCH 44/55] fix unit tests

---
 tests/gtest_fallback.cpp | 8 ++++----
 tests/gtest_sequence.cpp | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/tests/gtest_fallback.cpp b/tests/gtest_fallback.cpp
index 203a53181..d5d90e464 100644
--- a/tests/gtest_fallback.cpp
+++ b/tests/gtest_fallback.cpp
@@ -149,8 +149,8 @@ TEST_F(ReactiveFallbackTest, Condition1ToTrue)
   BT::NodeStatus state = root.executeTick();
 
   ASSERT_EQ(NodeStatus::RUNNING, state);
-  ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
-  ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
+  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
 
   condition_1.setExpectedResult(NodeStatus::SUCCESS);
@@ -171,8 +171,8 @@ TEST_F(ReactiveFallbackTest, Condition2ToTrue)
   BT::NodeStatus state = root.executeTick();
 
   ASSERT_EQ(NodeStatus::RUNNING, state);
-  ASSERT_EQ(NodeStatus::FAILURE, condition_1.status());
-  ASSERT_EQ(NodeStatus::FAILURE, condition_2.status());
+  ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
+  ASSERT_EQ(NodeStatus::IDLE, condition_2.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_1.status());
 
   condition_2.setExpectedResult(NodeStatus::SUCCESS);
diff --git a/tests/gtest_sequence.cpp b/tests/gtest_sequence.cpp
index 7646f6cec..5c49548c0 100644
--- a/tests/gtest_sequence.cpp
+++ b/tests/gtest_sequence.cpp
@@ -226,7 +226,7 @@ TEST_F(ComplexSequenceTest, ComplexSequenceConditionsTrue)
   BT::NodeStatus state = root.executeTick();
 
   ASSERT_EQ(NodeStatus::RUNNING, state);
-  ASSERT_EQ(NodeStatus::SUCCESS, seq_conditions.status());
+  ASSERT_EQ(NodeStatus::IDLE, seq_conditions.status());
   ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
   ASSERT_EQ(NodeStatus::IDLE, condition_1.status());
   ASSERT_EQ(NodeStatus::RUNNING, action_1.status());

From 61c55ed720e0630f211686b3830942ae27e90501 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 6 Sep 2023 21:21:37 +0200
Subject: [PATCH 45/55] fix issue #653: generic type for newly created ports

---
 include/behaviortree_cpp_v3/blackboard.h |  9 ++++-
 src/blackboard.cpp                       |  8 +++--
 tests/gtest_subtree.cpp                  | 46 ++++++++++++++++++++++++
 3 files changed, 59 insertions(+), 4 deletions(-)

diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index 99a39a9ca..296e434ae 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -122,8 +122,15 @@ class Blackboard
     else
     {
       Any new_value(value);
+      std::shared_ptr<Blackboard::Entry> entry;
       lock.unlock();
-      entry = createEntryImpl(key, PortInfo(PortDirection::INOUT, new_value.type(), {}));
+      if(std::is_constructible<std::string, T>::value)
+      {
+        entry = createEntryImpl(key, PortInfo(PortDirection::INOUT));
+      }
+      else {
+        entry = createEntryImpl(key, PortInfo(PortDirection::INOUT, new_value.type(), {}));
+      }
       entry->value = new_value;
       return;
     }
diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index 4caca037a..4b8a2fe9b 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -75,12 +75,14 @@ Blackboard::createEntryImpl(const std::string &key, const PortInfo& info)
   auto storage_it = storage_.find(key);
   if(storage_it != storage_.end())
   {
-    const auto old_type = storage_it->second->port_info.type();
-    if (old_type && info.type() && old_type != info.type())
+    const auto& prev_info = storage_it->second->port_info;
+    if (prev_info.type() != info.type() &&
+        prev_info.isStronglyTyped() &&
+        info.isStronglyTyped())
     {
       throw LogicError("Blackboard: once declared, the type of a port "
                        "shall not change. Previously declared type [",
-                       BT::demangle(old_type), "] != new type [",
+                       BT::demangle(prev_info.type()), "] != new type [",
                        BT::demangle(info.type()), "]");
     }
     return storage_it->second;
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index 444dc00c6..56707072a 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -400,3 +400,49 @@ TEST(SubTree, String_to_Pose_Issue623)
   auto tree = factory.createTreeFromText(xml_text);
   tree.tickRootWhileRunning();
 }
+
+class Assert : public BT::SyncActionNode
+{
+public:
+  Assert(const std::string& name, const BT::NodeConfiguration& config)
+    : BT::SyncActionNode(name, config) {}
+
+  static BT::PortsList providedPorts() {
+    return {BT::InputPort<bool>("condition")};
+  }
+
+private:
+  virtual BT::NodeStatus tick() override {
+    if (getInput<bool>("condition").value())
+      return BT::NodeStatus::SUCCESS;
+    else
+      return BT::NodeStatus::FAILURE;
+  }
+};
+
+TEST(SubTree, Issue653_SetBlackboard)
+{
+  // clang-format off
+
+  static const char* xml_text = R"(
+<root main_tree_to_execute = "MainTree">
+  <BehaviorTree ID="MainTree">
+    <Sequence>
+      <SubTreePlus ID="Init" test="{test}" />
+      <Assert condition="{test}" />
+    </Sequence>
+  </BehaviorTree>
+
+  <BehaviorTree ID="Init">
+    <SetBlackboard output_key="test" value="true"/>
+  </BehaviorTree>
+</root>
+ )";
+
+  // clang-format on
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<Assert>("Assert");
+  auto tree = factory.createTreeFromText(xml_text);
+  tree.tickRootWhileRunning();
+}

From 868e8ea0ae01e1b91e4149f0dfa4c22247346946 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 09:20:50 +0100
Subject: [PATCH 46/55] fix issue #724

---
 include/behaviortree_cpp_v3/blackboard.h | 19 +----
 src/blackboard.cpp                       | 29 ++++++++
 tests/gtest_subtree.cpp                  | 89 +++++++++++++++++-------
 3 files changed, 95 insertions(+), 42 deletions(-)

diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index 296e434ae..5df2362ef 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -48,24 +48,7 @@ class Blackboard
      *
      * @return the pointer or nullptr if it fails.
      */
-  const Any* getAny(const std::string& key) const
-  {
-    std::unique_lock<std::mutex> lock(mutex_);
-    auto it = storage_.find(key);
-
-    if(it == storage_.end())
-    {
-      // Try with autoremapping. This should work recursively
-      if(autoremapping_)
-      {
-        if(auto parent = parent_bb_.lock()) {
-          return parent->getAny(key);
-        }
-      }
-      return nullptr;
-    }
-    return &(it->second->value);
-  }
+  const Any* getAny(const std::string& key) const;
 
   Any* getAny(const std::string& key)
   {
diff --git a/src/blackboard.cpp b/src/blackboard.cpp
index 4b8a2fe9b..12b1bc266 100644
--- a/src/blackboard.cpp
+++ b/src/blackboard.cpp
@@ -7,6 +7,35 @@ void Blackboard::enableAutoRemapping(bool remapping)
   autoremapping_ = remapping;
 }
 
+const Any *Blackboard::getAny(const std::string &key) const
+{
+  std::unique_lock<std::mutex> lock(mutex_);
+  auto it = storage_.find(key);
+
+  if(it == storage_.end())
+  {
+    // Try with autoremapping. This should work recursively
+    auto remapping_it = internal_to_external_.find(key);
+    if (remapping_it != internal_to_external_.end())
+    {
+      const auto& remapped_key = remapping_it->second;
+      if (auto parent = parent_bb_.lock())
+      {
+        return parent->getAny(remapped_key);
+      }
+    }
+
+    else if(autoremapping_)
+    {
+      if(auto parent = parent_bb_.lock()) {
+        return parent->getAny(key);
+      }
+    }
+    return nullptr;
+  }
+  return &(it->second->value);
+}
+
 const PortInfo* Blackboard::portInfo(const std::string& key)
 {
   std::unique_lock<std::mutex> lock(mutex_);
diff --git a/tests/gtest_subtree.cpp b/tests/gtest_subtree.cpp
index 56707072a..5074bbcda 100644
--- a/tests/gtest_subtree.cpp
+++ b/tests/gtest_subtree.cpp
@@ -330,34 +330,34 @@ class NaughtyNav2Node : public BT::SyncActionNode
   }
 };
 
-TEST(SubTree, SubtreeIssue563)
+TEST(SubTree, SubtreeNav2_Issue563)
 {
   static const char* xml_text = R"(
 <root main_tree_to_execute="Tree1">
 
-<BehaviorTree ID="Tree1">
-  <Sequence>
-    <SetBlackboard output_key="the_message" value="hello world"/>
-    <SubTreePlus ID="Tree2" __autoremap="true"/>
-    <SaySomething message="{reply}" />
-  </Sequence>
-</BehaviorTree>
-
-<BehaviorTree ID="Tree2">
-    <SubTreePlus ID="Tree3" __autoremap="true"/>
-</BehaviorTree>
-
-<BehaviorTree ID="Tree3">
-    <SubTreePlus ID="Talker" __autoremap="true"/>
-</BehaviorTree>
-
-<BehaviorTree ID="Talker">
-  <Sequence>
-    <SaySomething message="{the_message}" />
-    <SetBlackboard output_key="reply" value="done"/>
-    <NaughtyNav2Node/>
-  </Sequence>
-</BehaviorTree>
+    <BehaviorTree ID="Tree1">
+      <Sequence>
+        <SetBlackboard output_key="the_message" value="hello world"/>
+        <SubTreePlus ID="Tree2" __autoremap="true"/>
+        <SaySomething message="{reply}" />
+      </Sequence>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Tree2">
+        <SubTreePlus ID="Tree3" __autoremap="true"/>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Tree3">
+        <SubTreePlus ID="Talker" __autoremap="true"/>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Talker">
+      <Sequence>
+        <SaySomething message="{the_message}" />
+        <SetBlackboard output_key="reply" value="done"/>
+        <NaughtyNav2Node/>
+      </Sequence>
+    </BehaviorTree>
 
 </root>)";
 
@@ -374,6 +374,47 @@ TEST(SubTree, SubtreeIssue563)
   ASSERT_EQ(ret, NodeStatus::SUCCESS);
 }
 
+TEST(SubTree, SubtreeNav2_Issue724)
+{
+  static const char* xml_text = R"(
+<root main_tree_to_execute="Tree1">
+
+    <BehaviorTree ID="Tree1">
+      <Sequence>
+        <SubTreePlus ID="Tree2" ros_node="{ros_node}"/>
+      </Sequence>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Tree2">
+        <SubTreePlus ID="Tree3" ros_node="{ros_node}"/>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Tree3">
+        <SubTreePlus ID="Talker" ros_node="{ros_node}"/>
+    </BehaviorTree>
+
+    <BehaviorTree ID="Talker">
+      <Sequence>
+        <NaughtyNav2Node/>
+      </Sequence>
+    </BehaviorTree>
+
+</root>)";
+
+  BehaviorTreeFactory factory;
+  factory.registerNodeType<NaughtyNav2Node>("NaughtyNav2Node");
+
+  factory.registerBehaviorTreeFromText(xml_text);
+
+  auto blackboard = BT::Blackboard::create();
+  blackboard->set<std::string>("ros_node", "nav2_shouldnt_do_this");
+
+  Tree tree = factory.createTreeFromText(xml_text, blackboard);
+
+  auto ret = tree.tickRoot();
+  ASSERT_EQ(ret, NodeStatus::SUCCESS);
+}
+
 TEST(SubTree, String_to_Pose_Issue623)
 {
   // clang-format off

From ae5b949b6570bc6fa94f0b464742ed8d670fbcd1 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 09:21:43 +0100
Subject: [PATCH 47/55] 3.8.6

---
 package.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index b3887c5f6..4b5e89b5c 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.5</version>
+  <version>3.8.6</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>

From 6407989c7a2e4c9cad1f986614619b2f122aa414 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 11:29:40 +0100
Subject: [PATCH 48/55] fix issue #725 : SetBlackboard can copy entries

---
 .../actions/set_blackboard_node.h             | 43 +++++++++++++++----
 include/behaviortree_cpp_v3/blackboard.h      | 11 ++++-
 tests/gtest_blackboard.cpp                    | 42 +++++++++++++++---
 3 files changed, 80 insertions(+), 16 deletions(-)

diff --git a/include/behaviortree_cpp_v3/actions/set_blackboard_node.h b/include/behaviortree_cpp_v3/actions/set_blackboard_node.h
index bbdc080b8..8c30b381b 100644
--- a/include/behaviortree_cpp_v3/actions/set_blackboard_node.h
+++ b/include/behaviortree_cpp_v3/actions/set_blackboard_node.h
@@ -26,6 +26,12 @@ namespace BT
  *  <SetBlackboard value="42" output_key="the_answer" />
  *
  * Will store the string "42" in the entry with key "the_answer".
+ *
+ * Alternatively, you can use it to copy one port inside another port:
+ *
+ * <SetBlackboard value="{src_port}" output_key="dst_port" />
+ *
+ * This will copy the type and content of {src_port} into {dst_port}
  */
 class SetBlackboard : public SyncActionNode
 {
@@ -38,26 +44,45 @@ class SetBlackboard : public SyncActionNode
 
   static PortsList providedPorts()
   {
-    return {InputPort("value", "Value represented as a string. convertFromString must be "
-                               "implemented."),
+    return {InputPort("value", "Value to be written int othe output_key"),
             BidirectionalPort("output_key", "Name of the blackboard entry where the "
-                                            "value "
-                                            "should be written")};
+                                            "value should be written")};
   }
 
 private:
   virtual BT::NodeStatus tick() override
   {
-    std::string key, value;
-    if (!getInput("output_key", key))
+    std::string output_key;
+    if (!getInput("output_key", output_key))
     {
       throw RuntimeError("missing port [output_key]");
     }
-    if (!getInput("value", value))
+
+    const std::string value_str = config().input_ports.at("value");
+
+    if(isBlackboardPointer(value_str))
     {
-      throw RuntimeError("missing port [value]");
+      StringView stripped_key = stripBlackboardPointer(value_str);
+      const auto input_key = std::string(stripped_key);
+      std::shared_ptr<Blackboard::Entry> src_entry = config().blackboard->getEntry(input_key);
+      std::shared_ptr<Blackboard::Entry> dst_entry = config().blackboard->getEntry(output_key);
+
+      if(!src_entry)
+      {
+        throw RuntimeError("Can't find the port referred by [value]");
+      }
+      if(!dst_entry)
+      {
+        config().blackboard->createEntry(output_key, src_entry->port_info);
+        dst_entry = config().blackboard->getEntry(output_key);
+      }
+      dst_entry->value = src_entry->value;
+    }
+    else
+    {
+      config().blackboard->set(output_key, value_str);
     }
-    setOutput("output_key", value);
+
     return NodeStatus::SUCCESS;
   }
 };
diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
index 5df2362ef..12cd71502 100644
--- a/include/behaviortree_cpp_v3/blackboard.h
+++ b/include/behaviortree_cpp_v3/blackboard.h
@@ -178,7 +178,6 @@ class Blackboard
     createEntryImpl(key, info);
   }
 
-private:
   struct Entry
   {
     Any value;
@@ -188,10 +187,18 @@ class Blackboard
     {}
 
     Entry(Any&& other_any, const PortInfo& info) :
-      value(std::move(other_any)), port_info(info)
+        value(std::move(other_any)), port_info(info)
     {}
   };
 
+  std::shared_ptr<Entry> getEntry(const std::string& key) const
+  {
+    auto it = storage_.find(key);
+    return it == storage_.end() ? std::shared_ptr<Entry>() : it->second;
+  }
+
+private:
+
   std::shared_ptr<Entry> createEntryImpl(const std::string& key, const PortInfo& info);
 
   mutable std::mutex mutex_;
diff --git a/tests/gtest_blackboard.cpp b/tests/gtest_blackboard.cpp
index 345bf7ba5..3341967eb 100644
--- a/tests/gtest_blackboard.cpp
+++ b/tests/gtest_blackboard.cpp
@@ -1,4 +1,4 @@
-/* Copyright (C) 2018-2019 Davide Faconti, Eurecat - All Rights Reserved
+/* Copyright (C) 2018-2023 Davide Faconti, Eurecat - All Rights Reserved
 *
 *   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,
@@ -11,12 +11,10 @@
 */
 
 #include <gtest/gtest.h>
-#include "action_test_node.h"
-#include "condition_test_node.h"
-#include "behaviortree_cpp_v3/behavior_tree.h"
 #include "behaviortree_cpp_v3/bt_factory.h"
 #include "behaviortree_cpp_v3/blackboard.h"
-#include "behaviortree_cpp_v3/xml_parsing.h"
+
+#include "../sample_nodes/dummy_nodes.h"
 
 using namespace BT;
 
@@ -295,3 +293,37 @@ TEST(BlackboardTest, CheckTypeSafety)
   is = std::is_constructible<BT::StringView, std::string>::value;
   ASSERT_TRUE(is);
 }
+
+struct Point {
+  double x;
+  double y;
+};
+
+TEST(BlackboardTest, SetBlackboard_Issue725)
+{
+  BT::BehaviorTreeFactory factory;
+
+  const std::string xml_text = R"(
+  <root main_tree_to_execute = "MainTree"  >
+    <BehaviorTree ID="MainTree">
+      <SetBlackboard value="{first_point}" output_key="other_point" />
+    </BehaviorTree>
+  </root> )";
+
+  factory.registerNodeType<DummyNodes::SaySomething>("SaySomething");
+  factory.registerBehaviorTreeFromText(xml_text);
+  auto tree = factory.createTree("MainTree");
+  auto& blackboard = tree.blackboard_stack.front();
+
+  const Point point = {2,7};
+  blackboard->set("first_point", point);
+
+  const auto status = tree.tickRoot();
+
+  Point other_point = blackboard->get<Point>("other_point");
+
+  ASSERT_EQ(status, BT::NodeStatus::SUCCESS);
+  ASSERT_EQ(other_point.x, point.x);
+  ASSERT_EQ(other_point.y, point.y);
+}
+

From 04a514eecc0e02e38f8c104084f43a85f57fabd2 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Tue, 19 Dec 2023 11:47:47 +0100
Subject: [PATCH 49/55] alternative to #719

---
 include/behaviortree_cpp_v3/basic_types.h | 8 ++++++--
 src/xml_parsing.cpp                       | 8 ++++----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/include/behaviortree_cpp_v3/basic_types.h b/include/behaviortree_cpp_v3/basic_types.h
index edfa7aa4b..2ec051cf1 100644
--- a/include/behaviortree_cpp_v3/basic_types.h
+++ b/include/behaviortree_cpp_v3/basic_types.h
@@ -216,7 +216,11 @@ using Optional = nonstd::expected<T, std::string>;
  * */
 using Result = Optional<void>;
 
-const std::unordered_set<std::string> ReservedPortNames = {"ID", "name", "_description"};
+inline bool IsReservedPortname(StringView name)
+{
+  return name == "ID" || name == "name" || name == "_description";
+}
+
 
 class PortInfo
 {
@@ -271,7 +275,7 @@ std::pair<std::string, PortInfo> CreatePort(PortDirection direction, StringView
                                             StringView description = {})
 {
   auto sname = static_cast<std::string>(name);
-  if (ReservedPortNames.count(sname) != 0)
+  if (IsReservedPortname(sname))
   {
     throw std::runtime_error("A port can not use a reserved name. See ReservedPortNames");
   }
diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
index da3aa9d17..d6a8b8d4a 100644
--- a/src/xml_parsing.cpp
+++ b/src/xml_parsing.cpp
@@ -523,7 +523,7 @@ TreeNode::Ptr XMLParser::Pimpl::createNodeFromXML(const XMLElement* element,
     for (const XMLAttribute* att = element->FirstAttribute(); att; att = att->Next())
     {
       const std::string attribute_name = att->Name();
-      if (ReservedPortNames.count(attribute_name) == 0)
+      if (!IsReservedPortname(attribute_name))
       {
         port_remap[attribute_name] = att->Value();
       }
@@ -699,7 +699,7 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
           for (const XMLAttribute* attr = element->FirstAttribute(); attr != nullptr;
                attr = attr->Next())
           {
-            if (ReservedPortNames.count(attr->Name()) == 0)
+            if (!IsReservedPortname(attr->Name()))
             {
               new_bb->addSubtreeRemapping(attr->Name(), attr->Value());
             }
@@ -720,7 +720,7 @@ void BT::XMLParser::Pimpl::recursivelyCreateTree(const std::string& tree_ID,
           const char* attr_name = attr->Name();
           const char* attr_value = attr->Value();
 
-          if (ReservedPortNames.count(attr->Name()) != 0)
+          if (IsReservedPortname(attr->Name()))
           {
             continue;
           }
@@ -779,7 +779,7 @@ void XMLParser::Pimpl::getPortsRecursively(const XMLElement* element,
   {
     const char* attr_name = attr->Name();
     const char* attr_value = attr->Value();
-    if (ReservedPortNames.count(attr_name) == 0 &&
+    if (!IsReservedPortname(attr_name) &&
         TreeNode::isBlackboardPointer(attr_value))
     {
       auto port_name = TreeNode::stripBlackboardPointer(attr_value);

From 8d7f94ffe43d8a4d325a66b8e6661dbfab39e645 Mon Sep 17 00:00:00 2001
From: Felix <felix@fzeltner.de>
Date: Tue, 13 Feb 2024 09:46:20 +0100
Subject: [PATCH 50/55] 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.
---
 package.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/package.xml b/package.xml
index 4b5e89b5c..5064f891e 100644
--- a/package.xml
+++ b/package.xml
@@ -22,7 +22,8 @@
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
   <depend condition="$ROS_VERSION == 2">ament_index_cpp</depend>
 
-  <depend>boost</depend>
+  <build_depend>libboost-coroutine-dev</build_depend>
+  <exec_depend>libboost-coroutine</exec_depend>
   <depend>libzmq3-dev</depend>
   <depend>libncurses-dev</depend>
 

From db25cfbd9ceeda0a55aca52dd2f3c4ef2725a30b Mon Sep 17 00:00:00 2001
From: afrixs <matej.vargovcik@gmail.com>
Date: Mon, 13 May 2024 09:26:23 +0200
Subject: [PATCH 51/55] 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>
---
 .../controls/reactive_fallback.h              | 13 +++++-
 .../controls/reactive_sequence.h              | 14 ++++++-
 src/controls/reactive_fallback.cpp            | 40 ++++++++++++++++---
 src/controls/reactive_sequence.cpp            | 39 ++++++++++++++++--
 4 files changed, 95 insertions(+), 11 deletions(-)

diff --git a/include/behaviortree_cpp_v3/controls/reactive_fallback.h b/include/behaviortree_cpp_v3/controls/reactive_fallback.h
index af9253963..bb4fc6734 100644
--- a/include/behaviortree_cpp_v3/controls/reactive_fallback.h
+++ b/include/behaviortree_cpp_v3/controls/reactive_fallback.h
@@ -36,8 +36,19 @@ class ReactiveFallback : public ControlNode
   ReactiveFallback(const std::string& name) : ControlNode(name, {})
   {}
 
+  /** A ReactiveFallback is not supposed to have more than a single
+  * anychronous node; if it does an exception is thrown.
+  * You can disabled that check, if you know what you are doing.
+  */
+  static void EnableException(bool enable);
+
 private:
-  virtual BT::NodeStatus tick() override;
+  BT::NodeStatus tick() override;
+
+  void halt() override;
+
+  int running_child_ = -1;
+  static bool throw_if_multiple_running;
 };
 
 }   // namespace BT
diff --git a/include/behaviortree_cpp_v3/controls/reactive_sequence.h b/include/behaviortree_cpp_v3/controls/reactive_sequence.h
index 3f05b1dfd..2f47d1dac 100644
--- a/include/behaviortree_cpp_v3/controls/reactive_sequence.h
+++ b/include/behaviortree_cpp_v3/controls/reactive_sequence.h
@@ -36,8 +36,20 @@ class ReactiveSequence : public ControlNode
   ReactiveSequence(const std::string& name) : ControlNode(name, {})
   {}
 
+  /** A ReactiveSequence is not supposed to have more than a single
+  * anychronous node; if it does an exception is thrown.
+  * You can disabled that check, if you know what you are doing.
+  */
+  static void EnableException(bool enable);
+
 private:
-  virtual BT::NodeStatus tick() override;
+  BT::NodeStatus tick() override;
+
+  void halt() override;
+
+  int running_child_ = -1;
+
+  static bool throw_if_multiple_running;
 };
 
 }   // namespace BT
diff --git a/src/controls/reactive_fallback.cpp b/src/controls/reactive_fallback.cpp
index f5a7fb18e..d6d30d207 100644
--- a/src/controls/reactive_fallback.cpp
+++ b/src/controls/reactive_fallback.cpp
@@ -14,9 +14,22 @@
 
 namespace BT
 {
+
+bool ReactiveFallback::throw_if_multiple_running = false;
+
+void ReactiveFallback::EnableException(bool enable)
+{
+  ReactiveFallback::throw_if_multiple_running = enable;
+}
+
 NodeStatus ReactiveFallback::tick()
 {
   size_t failure_count = 0;
+  if(status() == NodeStatus::IDLE)
+  {
+    running_child_ = -1;
+  }
+  setStatus(NodeStatus::RUNNING);
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -26,12 +39,23 @@ NodeStatus ReactiveFallback::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-
-        // reset the previous children, to make sure that they are in IDLE state
-        // the next time we tick them
-        for (size_t i = 0; i < index; i++)
+        // reset the previous children, to make sure that they are
+        // in IDLE state the next time we tick them
+        for (size_t i = 0; i < childrenCount(); i++)
         {
-          haltChild(i);
+          if(i != index)
+          {
+            haltChild(i);
+          }
+        }
+        if(running_child_ == -1)
+        {
+          running_child_ = int(index);
+        }
+        else if(throw_if_multiple_running && running_child_ != int(index))
+        {
+          throw LogicError("[ReactiveFallback]: only a single child can return RUNNING.\n"
+                           "This throw can be disabled with ReactiveFallback::EnableException(false)");
         }
         return NodeStatus::RUNNING;
       }
@@ -61,4 +85,10 @@ NodeStatus ReactiveFallback::tick()
   return NodeStatus::RUNNING;
 }
 
+void ReactiveFallback::halt()
+{
+  running_child_ = -1;
+  ControlNode::halt();
+}
+
 }   // namespace BT
diff --git a/src/controls/reactive_sequence.cpp b/src/controls/reactive_sequence.cpp
index 5db10cf4c..f4e00244e 100644
--- a/src/controls/reactive_sequence.cpp
+++ b/src/controls/reactive_sequence.cpp
@@ -14,9 +14,22 @@
 
 namespace BT
 {
+
+bool ReactiveSequence::throw_if_multiple_running = false;
+
+void ReactiveSequence::EnableException(bool enable)
+{
+  ReactiveSequence::throw_if_multiple_running = enable;
+}
+
 NodeStatus ReactiveSequence::tick()
 {
   size_t success_count = 0;
+  if(status() == NodeStatus::IDLE)
+  {
+    running_child_ = -1;
+  }
+  setStatus(NodeStatus::RUNNING);
 
   for (size_t index = 0; index < childrenCount(); index++)
   {
@@ -26,11 +39,23 @@ NodeStatus ReactiveSequence::tick()
     switch (child_status)
     {
       case NodeStatus::RUNNING: {
-        // reset the previous children, to make sure that they are in IDLE state
-        // the next time we tick them
-        for (size_t i = 0; i < index; i++)
+        // reset the previous children, to make sure that they are
+        // in IDLE state the next time we tick them
+        for (size_t i = 0; i < childrenCount(); i++)
         {
-          haltChild(i);
+          if(i != index)
+          {
+            haltChild(i);
+          }
+        }
+        if(running_child_ == -1)
+        {
+          running_child_ = int(index);
+        }
+        else if(throw_if_multiple_running && running_child_ != int(index))
+        {
+          throw LogicError("[ReactiveSequence]: only a single child can return RUNNING.\n"
+                           "This throw can be disabled with ReactiveSequence::EnableException(false)");
         }
         return NodeStatus::RUNNING;
       }
@@ -59,4 +84,10 @@ NodeStatus ReactiveSequence::tick()
   return NodeStatus::RUNNING;
 }
 
+void ReactiveSequence::halt()
+{
+  running_child_ = -1;
+  ControlNode::halt();
+}
+
 }   // namespace BT

From b95135bfb3d9b6729db0c79044dcbad937e82ada Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 21 May 2024 12:06:28 -0400
Subject: [PATCH 52/55] Add in call to ament_export_targets. (#826)

That way downstream ament packages can use this
package as a CMake target.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
---
 CMakeLists.txt | 1 +
 1 file changed, 1 insertion(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 95b266334..334d6578e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -250,6 +250,7 @@ if(ament_cmake_FOUND)
 
     ament_export_include_directories(include)
     ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
+    ament_export_targets(${BEHAVIOR_TREE_LIBRARY}Targets)
     ament_package()
 elseif(catkin_FOUND)
 

From 550ab6e58e3a85c754af6c315b8ceccebbce5b9a Mon Sep 17 00:00:00 2001
From: Lars Toenning <dev@ltoenning.de>
Date: Thu, 30 May 2024 13:39:58 +0200
Subject: [PATCH 53/55] 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.
---
 include/behaviortree_cpp_v3/flatbuffers/base.h  | 17 +++++++++++------
 .../flatbuffers/stl_emulation.h                 |  2 +-
 2 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/include/behaviortree_cpp_v3/flatbuffers/base.h b/include/behaviortree_cpp_v3/flatbuffers/base.h
index 54a51aacb..abe0b95e8 100644
--- a/include/behaviortree_cpp_v3/flatbuffers/base.h
+++ b/include/behaviortree_cpp_v3/flatbuffers/base.h
@@ -237,12 +237,17 @@ namespace flatbuffers {
       }
       #define FLATBUFFERS_HAS_STRING_VIEW 1
     // Check for absl::string_view
-    #elif __has_include("absl/strings/string_view.h")
-      #include "absl/strings/string_view.h"
-      namespace flatbuffers {
-        typedef absl::string_view string_view;
-      }
-      #define FLATBUFFERS_HAS_STRING_VIEW 1
+    #elif __has_include("absl/strings/string_view.h") && \
+          __has_include("absl/base/config.h") && \
+          (__cplusplus >= 201411)
+      #include "absl/base/config.h"
+      #if !defined(ABSL_USES_STD_STRING_VIEW)
+        #include "absl/strings/string_view.h"
+        namespace flatbuffers {
+          typedef absl::string_view string_view;
+        }
+        #define FLATBUFFERS_HAS_STRING_VIEW 1
+      #endif
     #endif
   #endif // __has_include
 #endif // !FLATBUFFERS_HAS_STRING_VIEW
diff --git a/include/behaviortree_cpp_v3/flatbuffers/stl_emulation.h b/include/behaviortree_cpp_v3/flatbuffers/stl_emulation.h
index 77e0f6610..ec10dc171 100644
--- a/include/behaviortree_cpp_v3/flatbuffers/stl_emulation.h
+++ b/include/behaviortree_cpp_v3/flatbuffers/stl_emulation.h
@@ -625,7 +625,7 @@ class span FLATBUFFERS_FINAL_CLASS {
  private:
   // This is a naive implementation with 'count_' member even if (Extent != dynamic_extent).
   pointer const data_;
-  const size_type count_;
+  size_type count_;
 };
 
  #if !defined(FLATBUFFERS_SPAN_MINIMAL)

From f9dce9e1f028b5574f117a85e00f9989c65887a5 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 26 Jun 2024 11:45:30 +0200
Subject: [PATCH 54/55] prepare release

---
 CHANGELOG.rst | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index 424c14f04..d61540092 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,36 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+-----------
+* Backport of some build-related flatbuffers changes (`#825 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/826>`_)
+  That way downstream ament packages can use this
+  package as a CMake target.
+* Fixed `#810 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/810>`_ - halting of subsequent nodes in ReactiveSequence/Fallback (`#817 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/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 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/719>`_
+* fix issue `#725 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/725>`_ : SetBlackboard can copy entries
+* Contributors: Chris Lalancette, Davide Faconti, Felix, Lars Toenning, afrixs
+
 3.8.5 (2023-08-14)
 ------------------
 

From 669392a6fafd7ac2f47fad88f581c6913c47ae89 Mon Sep 17 00:00:00 2001
From: Davide Faconti <davide.faconti@gmail.com>
Date: Wed, 26 Jun 2024 11:45:37 +0200
Subject: [PATCH 55/55] 3.8.7

---
 CHANGELOG.rst | 4 ++--
 package.xml   | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index d61540092..ff31395d5 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,8 +2,8 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-Forthcoming
------------
+3.8.7 (2024-06-26)
+------------------
 * Backport of some build-related flatbuffers changes (`#825 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/825>`_)
   * From flatbuffers upstream: Fix compiler error
   Original author of change: avaliente-bc
diff --git a/package.xml b/package.xml
index 5064f891e..d186d59cb 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>behaviortree_cpp_v3</name>
-  <version>3.8.6</version>
+  <version>3.8.7</version>
   <description>
   This package provides the Behavior Trees core library.
   </description>