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‎docs/getting_started.md

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# Getting started
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__BehaviorTree.CPP__ is a C++ library that can be easily integrated into
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your favourite distributed middleware, such as __ROS__ of __SmartSoft__.
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your favourite distributed middleware, such as __ROS__ or __SmartSoft__.
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You can also statically link it into your application (for example a game).
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‎docs/tutorial_A_create_trees.md

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```
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We can build a __SimpleActionNode__ from any of these functors:
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We can build a `SimpleActionNode` from any of these functors:
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- SayHello()
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- GripperInterface::open()
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SayHello name="action_hello"/>
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<CloseGripper name="close_gripper"/>
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</Sequence>
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</BehaviorTree>
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</root>
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```
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Note that the following syntax is also valid:
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<Action ID="SayHello" name="action_hello"/>
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<Action ID="OpenGripper" name="open_gripper"/>
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<Action ID="ApproachObject" name="approach_object"/>
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<Action ID="CloseGripper" name="close_gripper"/>
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</Sequence>
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</BehaviorTree>
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</root>
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```
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We must first register our custom TreeNodes into the __BehaviorTreeFactory__
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We must first register our custom TreeNodes into the `BehaviorTreeFactory`
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and then load the XML from file or text.
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The names used in the XML must conincide with those used to register
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The identifier used in the XML must coincide with those used to register
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the TreeNodes.
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The attribute "name" represent the name of the instance and it is optional.
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``` c++
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#include "behavior_tree_core/xml_parsing.h"
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#include "Blackboard/blackboard_local.h"
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#include "dummy_nodes.h"
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int main()

‎docs/tutorial_D_subtrees.md

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‎docs/tutorial_E_plugins.md

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# Plugins
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In the previous examples we linked the user-defined nodes where included
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and linked statically into out projects.
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We used the `BehaviorTreeFactory` to registed manualy these custom TreeNodes.
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We can avoid these steps loading user-defined TreeNodes at run-time using
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pre-compiled dynamic shared libraries, i.e. __plugins__.
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# Example
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Let's consider the [first tutorial](tutorial_A_create_trees.md).
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We can encapsulate the registration of multiple TreeNodes into a single
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function like this:
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``` c++
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BT_REGISTER_NODES(factory)
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{
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static GripperInterface gi; // we can't have more than instance
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factory.registerSimpleAction("SayHello", std::bind(SayHello) );
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factory.registerSimpleAction("OpenGripper",
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std::bind( &GripperInterface::open, &gi));
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factory.registerSimpleAction("CloseGripper",
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std::bind( &GripperInterface::close, &gi));
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factory.registerNodeType<ApproachObject>("ApproachObject");
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factory.registerNodeType<SaySomething>("SaySomething");
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}
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```
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`BT_REGISTER_NODES` is a macro that defines a function which symbol can be loaded
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from a dynamic library.
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!!! note
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This function must be placed in __.cpp__ file, not an header file.
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In this particular example we assume that BT_REGISTER_NODES and
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the definitions of our custom TreeNodes are defined in the file __dummy_nodes.cpp__.
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In __cmake__ the plugin can be compiled using the argument SHARED in
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`add_library`.
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```cmake
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add_library(dummy_nodes SHARED dummy_nodes.cpp )
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```
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In Linux the file __libdummy_nodes.so__ is created.
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Our first tutorial is, as a result, much simpler now:
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```c++ hl_lines="3 24"
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#include "behavior_tree_core/xml_parsing.h"
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#include "Blackboard/blackboard_local.h"
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// #include "dummy_nodes.h" YOU DON'T NEED THIS ANYMORE
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using namespace BT;
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const std::string xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SayHello name="action_hello"/>
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<OpenGripper name="open_gripper"/>
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<ApproachObject name="approach_object"/>
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<CloseGripper name="close_gripper"/>
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</Sequence>
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</BehaviorTree>
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</root>
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)";
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int main()
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{
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using namespace BT;
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BehaviorTreeFactory factory;
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factory.registerFromPlugin("./libdummy_nodes.so");
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auto tree = buildTreeFromText(factory, xml_text);
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tree.root_node->executeTick();
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return 0;
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}
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/* Expected output:
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Robot says: "Hello!!!"
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GripperInterface::open
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ApproachObject: approach_object
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GripperInterface::close
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*/
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```
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## Display the manifest of a plugin
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BehaviorTree.CPP provides a command line tool called
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__bt_plugin_manifest__; it shows all user-defind TreeNodes
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registered into the plugin and their corresponding NodeParameters.
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```
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$> ./bt_plugin_manifest ./libdummy_nodes.so
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---------------
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ApproachObject [Action]
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NodeParameters: 0
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---------------
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CloseGripper [Action]
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NodeParameters: 0
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---------------
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OpenGripper [Action]
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NodeParameters: 0
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---------------
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SayHello [Action]
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NodeParameters: 0
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---------------
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SaySomething [Action]
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NodeParameters: 1:
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- [Key]: "message" / [Default]: ""
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```
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‎docs/tutorial_F_loggers.md

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‎mkdocs.yml

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- Sequence Nodes: SequenceNode.md
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- Fallback Nodes: FallbackNode.md
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- Decorators Nodes: DecoratorNode.md
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- The BlackBoard: BlackBoard.md
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- Getting Started:
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- Tutorials:
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- Main concepts: getting_started.md
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- How to create a Tree: tutorial_A_create_trees.md
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- Create a Tree: tutorial_A_create_trees.md
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- Add NodeParameters: tutorial_B_node_parameters.md
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- Blackboards: tutorial_C_blackboard.md
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- Use Blackboards: tutorial_C_blackboard.md
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- Compose with Subtrees: tutorial_D_subtrees.md
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- Create Plugins : tutorial_E_plugins.md
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- Log state transitions: tutorial_F_loggers.md
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‎tools/bt_plugin_manifest.cpp

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for( auto& param: params)
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{
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std::cout << " - [Key]: " << param.first << " / Default value: "
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<< param.second << std::endl;
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std::cout << " - [Key]: \"" << param.first << "\" / [Default]: \""
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<< param.second << "\"" << std::endl;
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}
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}

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