Merge branch 'master' of github.com:BehaviorTree/BehaviorTree.CPP

facontidavide · facontidavide · commit 151a98ebcd07 · 2022-05-13T11:56:35.000+02:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -230,6 +230,7 @@ endif()
 if(ament_cmake_FOUND)
     find_package(ament_index_cpp REQUIRED)
     ament_target_dependencies(${BEHAVIOR_TREE_LIBRARY} PUBLIC ament_index_cpp)
+    ament_export_dependencies(ament_index_cpp)
 
     set( BEHAVIOR_TREE_LIB_DESTINATION   lib )
     set( BEHAVIOR_TREE_INC_DESTINATION   include )
diff --git a/docs/tutorial_02_basic_ports.md b/docs/tutorial_02_basic_ports.md
@@ -189,16 +189,13 @@ static value into an entry using the built-in Actions called `SetBlackboard`.
 
 ## A complete example
 
-In this example, a Sequence of 5 Actions is executed:
+In this example, a Sequence of 4 Actions is executed:
 
-- Actions 1 and 4 read the input `message` from a static string.
+- Actions 1 and 2 read the input `message` from a static string (`SaySomething2` is a SimpleActionNode).
 
-- Actions 3 and 5 read the input `message` from an entry in the
-  blackboard called `the_answer`.
+- Action 3 writes something into the entry of the blackboard called `the_answer`.
 
-- Action 2 writes something into the entry of the blackboard called `the_answer`.
-
-`SaySomething2` is a SimpleActionNode. 
+- Action 4 read the input `message` from an entry in the blackboard called `the_answer`.
 
 ```XML
 <root main_tree_to_execute = "MainTree" >
diff --git a/docs/tutorial_09_coroutines.md b/docs/tutorial_09_coroutines.md
@@ -105,7 +105,7 @@ class MyAsyncAction: public CoroActionNode
         CoroActionNode::halt();
     }
 
-    Timepoint Now()
+    TimePoint Now()
     { 
         return std::chrono::high_resolution_clock::now(); 
     };
diff --git a/include/behaviortree_cpp_v3/blackboard.h b/include/behaviortree_cpp_v3/blackboard.h
@@ -116,8 +116,8 @@ class Blackboard
     template <typename T>
     void set(const std::string& key, const T& value)
     {
-        std::unique_lock<std::mutex> lock(mutex_);
         std::unique_lock<std::mutex> lock_entry(entry_mutex_);
+        std::unique_lock<std::mutex> lock(mutex_);
         auto it = storage_.find(key);
 
         if( auto parent = parent_bb_.lock())

Original file line number	Diff line number	Diff line change
`@@ -105,7 +105,7 @@ class MyAsyncAction: public CoroActionNode`
`105`	`105`	`CoroActionNode::halt();`
`106`	`106`	`}`
`107`	`107`
`108`		`- Timepoint Now()`
	`108`	`+ TimePoint Now()`
`109`	`109`	`{`
`110`	`110`	`return std::chrono::high_resolution_clock::now();`
`111`	`111`	`};`
Original file line number	Diff line number	Diff line change
`@@ -116,8 +116,8 @@ class Blackboard`
`116`	`116`	`template <typename T>`
`117`	`117`	`void set(const std::string& key, const T& value)`
`118`	`118`	`{`
`119`		`- std::unique_lock<std::mutex> lock(mutex_);`
`120`	`119`	`std::unique_lock<std::mutex> lock_entry(entry_mutex_);`
	`120`	`+ std::unique_lock<std::mutex> lock(mutex_);`
`121`	`121`	`auto it = storage_.find(key);`
`122`	`122`
`123`	`123`	`if( auto parent = parent_bb_.lock())`