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‎CHANGELOG.rst

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Changelog for package behaviortree_cpp
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Forthcoming
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-----------
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* Error message corrected
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* fix windows and mingw compilation (?)
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* Merge pull request `#70 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/70>`_ from Masadow/patch-3
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Added 32bits compilation configuration for msvc
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* make Tree non copyable
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* fix `#114 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/114>`_
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* Merge branch 'master' of https://github.com/BehaviorTree/BehaviorTree.CPP
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* critical bug fix affecting AsyncActionNode
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When a Tree is copied, all the thread related to AsyncActionNode where
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invoked.
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As a consequence, they are never executed, despite the fact that the
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value RUNNING is returned.
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* Fix issue `#109 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/109>`_
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* fix `#111 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/111>`_
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* Merge pull request `#108 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/108>`_ from daniel-serrano/add-RobMoSys-acknowledgement
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Add robmosys acknowledgement
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* Add robomosys acknowledgement as requested
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* Add robomosys acknowledgement as requested
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* added more comments (issue `#102 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/102>`_)
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* Update README.md
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* Add files via upload
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* Merge pull request `#96 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/96>`_ from LoyVanBeek/patch-1
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Fix typo
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* Update tutorial_04_sequence_star.md
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* fix compilation
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* removing backward_cpp
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Motivation: backward_cpp is SUPER useful, but it is a library to use at
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the application level. It makes no sense to add it at the library level.
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* Merge pull request `#95 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/95>`_ from LoyVanBeek/patch-1
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Remove 0 in front of http://... URL to publication
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* Remove 0 in front of http://... URL to publication
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Hopefully, this makes the link correctly click-able when rendered to HTML
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* fix issue `#84 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/84>`_ (Directories)
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* add infinite loop to Repeat and Retry (issue `#80 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/80>`_)
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* fix unit test
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* issue `#82 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/82>`_
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* fix issue `#82 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/82>`_
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* Added 32bits compilation configuration for msvc
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* Contributors: Daniel Serrano, Davide Facont, Davide Faconti, Jimmy Delas, Loy
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3.0.7 (2019-04-02)
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------------------
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* this should fix issue with tinyXML2 once and for all (maybe...)

‎CMakeLists.ros2

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cmake_minimum_required(VERSION 2.8.12) # version on Ubuntu Trusty
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project(behaviortree_cpp_v3)
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if(NOT CMAKE_VERSION VERSION_LESS 3.1)
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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else()
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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endif()
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if(MSVC)
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add_definitions(-D_CRT_SECURE_NO_WARNINGS)
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endif()
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")
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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
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option(BUILD_EXAMPLES "Build tutorials and examples" ON)
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option(BUILD_UNIT_TESTS "Build the unit tests" ON)
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option(BUILD_TOOLS "Build commandline tools" ON)
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#############################################################
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# Find packages
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find_package(Threads REQUIRED)
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find_package(ZMQ)
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list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES
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${CMAKE_THREAD_LIBS_INIT}
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${CMAKE_DL_LIBS} )
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if( ZMQ_FOUND )
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message(STATUS "ZeroMQ found.")
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add_definitions( -DZMQ_FOUND )
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list(APPEND BT_SOURCE src/loggers/bt_zmq_publisher.cpp)
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list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES zmq)
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else()
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message(WARNING "ZeroMQ NOT found. Skipping the build of [PublisherZMQ] and [bt_recorder].")
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endif()
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set(BEHAVIOR_TREE_LIBRARY ${PROJECT_NAME})
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# Update the policy setting to avoid an error when loading the ament_cmake package
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# at the current cmake version level
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if(POLICY CMP0057)
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cmake_policy(SET CMP0057 NEW)
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endif()
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find_package(ament_cmake QUIET)
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if ( ament_cmake_FOUND )
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# Not adding -DUSING_ROS since xml_parsing.cpp hasn't been ported to ROS2
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message(STATUS "------------------------------------------")
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message(STATUS "BehaviourTree is being built using AMENT.")
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message(STATUS "------------------------------------------")
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set(BUILD_TOOL_INCLUDE_DIRS ${ament_INCLUDE_DIRS})
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elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
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set(catkin_FOUND 1)
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add_definitions( -DUSING_ROS )
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find_package(catkin REQUIRED COMPONENTS roslib)
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find_package(GTest)
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message(STATUS "------------------------------------------")
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message(STATUS "BehaviourTree is being built using CATKIN.")
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message(STATUS "------------------------------------------")
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catkin_package(
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INCLUDE_DIRS include # do not include "3rdparty" here
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LIBRARIES ${BEHAVIOR_TREE_LIBRARY}
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CATKIN_DEPENDS roslib
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)
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list(APPEND BEHAVIOR_TREE_EXTERNAL_LIBRARIES ${catkin_LIBRARIES})
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set(BUILD_TOOL_INCLUDE_DIRS ${catkin_INCLUDE_DIRS})
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else()
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find_package(GTest)
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if(NOT GTEST_FOUND)
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message(WARNING " GTest missing!")
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endif(NOT GTEST_FOUND)
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endif()
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#############################################################
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if(ament_cmake_FOUND)
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set( BEHAVIOR_TREE_LIB_DESTINATION lib )
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set( BEHAVIOR_TREE_INC_DESTINATION include )
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set( BEHAVIOR_TREE_BIN_DESTINATION bin )
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ament_export_include_directories(include)
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ament_export_libraries(${BEHAVIOR_TREE_LIBRARY})
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ament_package()
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elseif(catkin_FOUND)
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set( BEHAVIOR_TREE_LIB_DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} )
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set( BEHAVIOR_TREE_INC_DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} )
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set( BEHAVIOR_TREE_BIN_DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} )
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else()
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set( BEHAVIOR_TREE_LIB_DESTINATION lib )
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set( BEHAVIOR_TREE_INC_DESTINATION include )
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set( BEHAVIOR_TREE_BIN_DESTINATION bin )
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_BIN_DESTINATION}" )
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_LIB_DESTINATION}" )
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set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_BIN_DESTINATION}" )
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endif()
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message( STATUS "BEHAVIOR_TREE_LIB_DESTINATION: ${BEHAVIOR_TREE_LIB_DESTINATION} " )
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message( STATUS "BEHAVIOR_TREE_BIN_DESTINATION: ${BEHAVIOR_TREE_BIN_DESTINATION} " )
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message( STATUS "CMAKE_RUNTIME_OUTPUT_DIRECTORY: ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} " )
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message( STATUS "CMAKE_LIBRARY_OUTPUT_DIRECTORY: ${CMAKE_LIBRARY_OUTPUT_DIRECTORY} " )
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message( STATUS "CMAKE_ARCHIVE_OUTPUT_DIRECTORY: ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} " )
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#############################################################
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# LIBRARY
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list(APPEND BT_SOURCE
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src/action_node.cpp
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src/basic_types.cpp
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src/behavior_tree.cpp
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src/blackboard.cpp
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src/bt_factory.cpp
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src/decorator_node.cpp
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src/condition_node.cpp
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src/control_node.cpp
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src/shared_library.cpp
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src/tree_node.cpp
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src/xml_parsing.cpp
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src/decorators/inverter_node.cpp
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src/decorators/repeat_node.cpp
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src/decorators/retry_node.cpp
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src/decorators/subtree_node.cpp
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src/decorators/timeout_node.cpp
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src/controls/fallback_node.cpp
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src/controls/parallel_node.cpp
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src/controls/reactive_sequence.cpp
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src/controls/reactive_fallback.cpp
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src/controls/sequence_node.cpp
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src/controls/sequence_star_node.cpp
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src/loggers/bt_cout_logger.cpp
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src/loggers/bt_file_logger.cpp
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src/loggers/bt_minitrace_logger.cpp
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src/private/tinyxml2.cpp
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3rdparty/minitrace/minitrace.cpp
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)
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######################################################
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set(CMAKE_DEBUG_POSTFIX "d")
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if (UNIX)
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list(APPEND BT_SOURCE src/shared_library_UNIX.cpp )
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add_library(${BEHAVIOR_TREE_LIBRARY} SHARED ${BT_SOURCE} )
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endif()
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if (WIN32)
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list(APPEND BT_SOURCE src/shared_library_WIN.cpp )
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add_library(${BEHAVIOR_TREE_LIBRARY} STATIC ${BT_SOURCE} )
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endif()
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target_link_libraries(${BEHAVIOR_TREE_LIBRARY} PUBLIC
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${BEHAVIOR_TREE_EXTERNAL_LIBRARIES})
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target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PRIVATE $<$<CONFIG:Debug>:TINYXML2_DEBUG>)
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target_include_directories(${BEHAVIOR_TREE_LIBRARY} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/3rdparty>
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${BUILD_TOOL_INCLUDE_DIRS})
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if( ZMQ_FOUND )
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target_compile_definitions(${BEHAVIOR_TREE_LIBRARY} PUBLIC ZMQ_FOUND)
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endif()
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if(MSVC)
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target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE /W4 /WX)
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else()
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target_compile_options(${BEHAVIOR_TREE_LIBRARY} PRIVATE
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-Wall -Wextra -Werror=return-type)
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endif()
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######################################################
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# Test
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add_subdirectory(tests)
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######################################################
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# INSTALL
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set(PROJECT_NAMESPACE BehaviorTree)
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set(PROJECT_CONFIG ${PROJECT_NAMESPACE}Config)
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INSTALL(TARGETS ${BEHAVIOR_TREE_LIBRARY}
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EXPORT ${PROJECT_CONFIG}
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ARCHIVE DESTINATION ${BEHAVIOR_TREE_BIN_DESTINATION}
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LIBRARY DESTINATION ${BEHAVIOR_TREE_LIB_DESTINATION}
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)
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INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
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DESTINATION ${BEHAVIOR_TREE_INC_DESTINATION}
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FILES_MATCHING PATTERN "*.h*")
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install(EXPORT ${PROJECT_CONFIG}
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DESTINATION "${BEHAVIOR_TREE_LIB_DESTINATION}/${PROJECT_NAMESPACE}/cmake"
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NAMESPACE ${PROJECT_NAMESPACE}::)
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export(TARGETS ${PROJECT_NAME}
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NAMESPACE ${PROJECT_NAMESPACE}::
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FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_CONFIG}.cmake")
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######################################################
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# EXAMPLES and TOOLS
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if(BUILD_TOOLS)
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add_subdirectory(tools)
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endif()
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if( BUILD_EXAMPLES )
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add_subdirectory(sample_nodes)
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add_subdirectory(examples)
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endif()
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