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cleanups: site removed and tag <remap> descouraged
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‎examples/t06_subtree_port_remapping.cpp

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Original file line numberDiff line numberDiff line change
@@ -28,12 +28,6 @@ static const char* xml_text = R"(
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<Sequence name="main_sequence">
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<SetBlackboard output_key="move_goal" value="1;2;3" />
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<SubTree ID="MoveRobot" target="move_goal" output="move_result" />
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<!-- elternatively use the verbose version...
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<SubTree ID="MoveRobot">
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<remap internal="target" external="move_goal"/>
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<remap internal="output" external="move_result"/>
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</SubTree>
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-->
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<SaySomething message="{move_result}"/>
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</Sequence>
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@@ -56,12 +50,6 @@ static const char* xml_text = R"(
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// clang-format on
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/** using the <remap> tag we where able to connect the ports as follows:
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*
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* MoveRobot->target is connected to MainTree->move_goal
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* MoveRobot->output is connected to MainTree->move_result
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*
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*/
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using namespace BT;
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using namespace DummyNodes;

‎gtest/gtest_factory.cpp

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Original file line numberDiff line numberDiff line change
@@ -165,34 +165,8 @@ const std::string xml_text_issue = R"(
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// clang-format off
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static const char* xml_ports_subtree = R"(
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<root main_tree_to_execute = "MainTree" >
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<BehaviorTree ID="TalkToMe">
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<Sequence>
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<SaySomething message="{hello_msg}" />
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<SaySomething message="{bye_msg}" />
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<SetBlackboard output_key="output" value="done!" />
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</Sequence>
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</BehaviorTree>
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<BehaviorTree ID="MainTree">
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<Sequence>
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<SetBlackboard output_key="talk_hello" value="hello" />
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<SetBlackboard output_key="talk_bye" value="bye bye" />
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<SubTree ID="TalkToMe">
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<remap internal="hello_msg" external="talk_hello" />
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<remap internal="bye_msg" external="talk_bye" />
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<remap internal="output" external="talk_out" />
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</SubTree>
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<SaySomething message="{talk_out}" />
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</Sequence>
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</BehaviorTree>
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</root> )";
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static const char* xml_ports_subtre_compact = R"(
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static const char* xml_ports_subtree = R"(
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<root main_tree_to_execute = "MainTree" >
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@@ -208,7 +182,9 @@ static const char* xml_ports_subtre_compact = R"(
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<Sequence>
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<SetBlackboard output_key="talk_hello" value="hello" />
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<SetBlackboard output_key="talk_bye" value="bye bye" />
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<SubTree ID="TalkToMe" hello_msg="{talk_hello}" bye_msg="{talk_bye}" output="{talk_out}" />
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<SubTree ID="TalkToMe" hello_msg="talk_hello"
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bye_msg="talk_bye"
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output="talk_out" />
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<SaySomething message="{talk_out}" />
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</Sequence>
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</BehaviorTree>

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