Hi everyone.

I want to open a discussion about the future of the library. The more I think about issue #18 , more I realize (thanks @v-lopez) that the model of ports in SMACH is better to deal with name clashing.

Looking at examples from the people involved in ROS2/Navigation2, I have the feeling that they have their own "work around".

The only conclusion I have is that accessing TreeNode::blackboard() in an implicit way is a recipe for disaster.

I try to summarize my thoughts here: https://github.com/BehaviorTree/BehaviorTree.CPP/blob/output_ports/RoadmapDiscussion.md

Please feel free to add your own two cents, since... most of the solutions I am thinking about will break the API and you will profoundly hate me :(

I am pinging people that showed some interest in the past, since this will affect them.

@mjeronimo @miccol @liuxin00738 @Thordreck @StefanoSoffiaUTRC @orduno

This might need some discussion, but I am pretty sure it's a bug.

The problem: SequenceStar resets progress when halted https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/src/controls/sequence_star_node.cpp#L77

So in reactive formulations such as the example image below (also used in the documentation), if the battery check fails during GoTo=B, GoTo=A will be re-executed in the next sequence tick. Since we are using SequenceStar to avoid repeating actions which have already returned SUCESS, the execution should be resumed from GoTo=B even after halted.

Could we a version of the library released to the ROS2 build farm? As I understand it, this requires rosdep keys and preparing a bloom release. This would allow us to reference the BT library in our official Navigation2 software for the Crystal release of ROS2.

BehaviorTree.CPP/3rdparty/lexy/include/lexy/dsl/literal.hpp:344:61: error: invalid use of incomplete type ‘struct lexy::_detail::string_literal<1, string_literal<...auto...> >’

It seems that there is a problem with the compilation of the updated lexy. How can I solve this problem?

This issue is about adding input/output ports to Subtrees. Unfortunately, to do it right, we need to think carefully about the impact in terms of composition and scope. The BB model itself struggle to deal with this.

@Thordreck @miccol @v-lopez

@Thordreck suggested to have internal/external ports. Even if that might look as a solution, it feels to me "wrong".

My gut feeling is telling me that the solution is "scoped blackboards".

Consider this C++ code:

int value = 69;
int num = 11;
{
    int value = 42;
    std::cout << num << " " << value <<std::endl; // will print: 11 42
}
std::cout << num << " " << value <<std::endl; // will print: 11 69

My feeling is that, to address composition using Subtrees, each subtree must have it's scoped Blackboard. Similarly to the C++ example, unless it is remapped, there should be a "priority stack" of blackboards, rather than a single one.

By default, the "local" blackboard is accessed first and then the following ones.

Now I have to think how to implement this and how make it look simple in the XML representation ;)

Any other idea or different direction you would like to propose?

Hello, I failed to reproduce the first tutorial, mainly because I think it is missing some steps, which might be obvious to more experienced developer.

Attempted tutorial: https://www.behaviortree.dev/tutorial_01_first_tree/

Questions: This class declaration, should be in "dummy_nodes.h" correct ?

// Example of custom SyncActionNode (synchronous action)
// without ports.
class ApproachObject : public BT::SyncActionNode
{
  public:
    ApproachObject(const std::string& name) :
        BT::SyncActionNode(name, {})
    {
    }

    // You must override the virtual function tick()
    BT::NodeStatus tick() override
    {
        std::cout << "ApproachObject: " << this->name() << std::endl;
        return BT::NodeStatus::SUCCESS;
    }
};

Main: The header does not include all the classes that are in the next source code, but I understand it is my job to fill their declaration. I removed the undeclared ones instead.

#include "behaviortree_cpp_v3/bt_factory.h"

// file that contains the custom nodes definitions
#include "dummy_nodes.h"

int main()
{
    // We use the BehaviorTreeFactory to register our custom nodes
    BehaviorTreeFactory factory;

    // Note: the name used to register should be the same used in the XML.
    using namespace DummyNodes;

    // The recommended way to create a Node is through inheritance.
    factory.registerNodeType<ApproachObject>("ApproachObject");

    // TreeNodes are destroyed
    auto tree = factory.createTreeFromFile("./my_tree.xml");

    tree.tickRoot();

    return 0;
}
Please, notice that in the cpp file there is "using namespace DummyNodes;", but in the header from the same tutorial, there is no namespace DummyNodes. Should I add DummyNodes in the header

Now, from the Github page, I found this CMAKE file (it is not in the Tutorial 01). What should be the correct CMAKE for this tutorial ? How do I include XML file in CMAKE build ?

cmake_minimum_required(VERSION 3.5)

project(hello_BT)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(BehaviorTreeV3)

add_executable(${PROJECT_NAME} "hello_BT.cpp")
target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp_v3)

Lastly, I searched the Github folder with examples and another thing confuses me, which is, that the tutorial source codes are very different. In Github main, for example, the tree is represented as string literal, but in the landing page, the tree is represented like extrernal XML file. Also this line: "factory.registerFromPlugin("./libdummy_nodes_dyn.so");" It is not in the landing page tutorial, but it is in github.. what is "libdummy_nodes_dyn.so" ? Where can I get this file ? What is its purpose ?

Please can you help me and future beginners. Please, can you provide sequential steps, with fully functional example ? I admit, it is probably due to my own lack of experience, but I am very lost, I have spent hours trying to make tutorial 01 work, with no success. Thank you, Tomas

Hello,

It seems that it is not possible to directly set a value to an input port of a SubTree.
I have to map the input port to a key of the BlackBoard otherwise the value is [undefined].
Here is a snapshot of my tree:

And here is the terminal output when I load the tree:

root@pc047:/workspace/sequencer/build# ./bin/run_sequencer ../trees/assemble_inner_ring_up.xml 
Register Node ClearArm
Register Node ClearTileFromAnchorObject
Register Node EyeInHandVisualServoing
Register Node EyeToHandVisualServoing
Register Node GetAnchorSI
Register Node LockSI
Register Node MoveArmToSI
Register Node UnlockAllSiblings
Register Node UnlockSI
Register Node GetParametersString
Register Node GetParametersDouble
Tick : MoveArmToSI
    IN: ee_si : [undefined]
    IN: goal_si : [undefined]
    IN: approach_offset : 1000
MoveArmToSI - Invalid input

As you can see, the port approach_offset of the action MoveArmToSI is correctly set.
But its ports ee_si and goal_si are [undefined] albeit I have set the values of the GrabTileFromContainer ports.

Am I missing something, or is it a requirement to use a SetBlackBoard to initialise SubTree ports ?

Hi @miccol

as you know, I was unhappy with the logic of V2 about Action not being "tickable" unless set to IDLE. Removinf that affect the ability of a ReactiveSequence (and ReactiveFallback) to have multiple asynch child (not just actions, but entire branches).

I propose this solution (separate branch):

https://github.com/BehaviorTree/BehaviorTree.CPP/blob/reactive_stuff/src/controls/reactive_sequence.cpp

I noticed that all nodes with multiple children (sequence, fallback, reactive*, retry, repeat, etc.) loop over children internally with while's and for's in their implementation of tick(). I wonder if this is a design decision, and if yes, why is this the case? Due to perceived efficiency?

I would argue that for each executeTick() on the root node, only one leaf should have their tick() method called. This would imply descending into the tree from the root every executeTick(), but I believe this cost would be negligible. However, tick()-ing only one leaf per executeTick() iteration would be more in line with the conceptual behavior tree model and it would help scheduling/preempting a lot.

What do you think?

Hi! Thank you for your fantastic contribution, and congrats for your new shiny version 3.0!

I am a great fan of crossplatform, minimal dependencies and header-only gems in modern c++.

Well; BehaviourTree.cpp is not header-only :-). So i am trying to compile/build the library from source code, in Visual Studio 2017(15.9.7) for Windows 10 x64. No success. :-/. At the moment i have omitted GTEST amd ZMQ because i only want the core/logic functionality. Is it possible?

Any guide/hints about how to compile/build/configure BehaviorTree.CPP for using in new proyects? Thanks in advance!!

I have enabled the _CRT_SECURE_NO_WARNINGS flag.

I get this output :-(:

1>------ Rebuild All started: Project: ZERO_CHECK, Configuration: Debug x64 ------
1>Checking Build System
1>CMake does not need to re-run because P:/Compilados/x32-x64/TRABAJO_MSVC2017_x64/BehaviorTree.CPP/builds/debug/CMakeFiles/generate.stamp is up-to-date.
2>------ Rebuild All started: Project: behaviortree_cpp_v3, Configuration: Debug x64 ------
2>Building Custom Rule P:/Compilados/x32-x64/TRABAJO_MSVC2017_x64/BehaviorTree.CPP/CMakeLists.txt
2>CMake does not need to re-run because P:/Compilados/x32-x64/TRABAJO_MSVC2017_x64/BehaviorTree.CPP/builds/debug/CMakeFiles/generate.stamp is up-to-date.
2>action_node.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\coroutine/coroutine.h(115): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\coroutine/coroutine.h(115): warning C4267: 'return': conversion from 'size_t' to 'coroutine::routine_t', possible loss of data
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\coroutine/coroutine.h(137): warning C4100: 'lpParameter': unreferenced formal parameter
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(788): error C2059: syntax error: '('
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(788): error C4430: missing type specifier - int assumed. Note: C++ does not support default-int
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(788): error C2059: syntax error: ')'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(789): warning C4183: '__attribute__': missing return type; assumed to be a member function returning 'int'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(795): error C3861: 'backtrace': identifier not found
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2589: '(': illegal token on right side of '::'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2144: syntax error: 'unknown-type' should be preceded by ')'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2661: 'std::vector<void *,std::allocator<_Ty>>::resize': no overloaded function takes 0 arguments
2>        with
2>        [
2>            _Ty=void *
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2144: syntax error: 'unknown-type' should be preceded by ';'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2143: syntax error: missing ')' before '.'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C3928: '->': trailing return type is not allowed after a parenthesized declarator
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C3484: syntax error: expected '->' before the return type
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C3613: missing return type after '->' ('int' assumed)
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): warning C4458: declaration of '_stacktrace' hides class member
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(679): note: see declaration of 'backward::StackTraceImplHolder::_stacktrace'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2146: syntax error: missing ';' before identifier 'size'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\backward-cpp/backward.hpp(812): error C2059: syntax error: ')'
2>basic_types.cpp
2>behavior_tree.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): warning C4127: conditional expression is constant
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(211): note: consider using 'if constexpr' statement instead
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(49): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<std::string>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *const ' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(258): note: see reference to function template instantiation 'void BT::Blackboard::set<T>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(57): note: see reference to function template instantiation 'BT::Result BT::TreeNode::setOutput<std::string>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>blackboard.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(28): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(28): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(29): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(29): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(60): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\blackboard.cpp(60): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>bt_factory.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\bt_factory.cpp(143): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\bt_factory.cpp(143): warning C4456: declaration of 'it' hides previous local declaration
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\bt_factory.cpp(139): note: see declaration of 'it'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): warning C4127: conditional expression is constant
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(211): note: consider using 'if constexpr' statement instead
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(49): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<std::string>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *const ' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(258): note: see reference to function template instantiation 'void BT::Blackboard::set<T>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(57): note: see reference to function template instantiation 'BT::Result BT::TreeNode::setOutput<std::string>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>decorator_node.cpp
2>condition_node.cpp
2>control_node.cpp
2>shared_library.cpp
2>shared_library_UNIX.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\shared_library_UNIX.cpp(3): fatal error C1083: Cannot open include file: 'dlfcn.h': No such file or directory
2>tree_node.cpp
2>xml_parsing.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(16): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(16): warning C4068: unknown pragma
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(17): warning C4068: unknown pragma
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(44): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(46): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(70): warning C4068: unknown pragma
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(84): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(84): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(84): error C2672: 'std::list<std::unique_ptr<XMLDocument,std::default_delete<_Ty>>,std::allocator<std::unique_ptr<_Ty,std::default_delete<_Ty>>>>::emplace_back': no matching overloaded function found
2>        with
2>        [
2>            _Ty=XMLDocument
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(86): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(87): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(97): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(97): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(97): error C2672: 'std::list<std::unique_ptr<XMLDocument,std::default_delete<_Ty>>,std::allocator<std::unique_ptr<_Ty,std::default_delete<_Ty>>>>::emplace_back': no matching overloaded function found
2>        with
2>        [
2>            _Ty=XMLDocument
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(99): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(100): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(105): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(107): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(110): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(110): warning C4473: 'sprintf' : not enough arguments passed for format string
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(110): note: placeholders and their parameters expect 1 variadic arguments, but 0 were provided
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(110): note: the missing variadic argument 1 is required by format string '%s'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(114): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(147): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(147): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(147): error C2672: 'std::list<std::unique_ptr<XMLDocument,std::default_delete<_Ty>>,std::allocator<std::unique_ptr<_Ty,std::default_delete<_Ty>>>>::emplace_back': no matching overloaded function found
2>        with
2>        [
2>            _Ty=XMLDocument
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(148): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(148): warning C4457: declaration of 'doc' hides function parameter
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(105): note: see declaration of 'doc'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(149): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(170): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(189): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(189): error C2079: 'doc' uses undefined class 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(191): error C3536: 'xml_error': cannot be used before it is initialized
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(194): warning C4473: 'sprintf' : not enough arguments passed for format string
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(194): note: placeholders and their parameters expect 1 variadic arguments, but 0 were provided
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(194): note: the missing variadic argument 1 is required by format string '%s'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(395): error C2027: use of undefined type 'XMLDocument'
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: see declaration of 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(395): error C2039: 'RootElement': is not a member of 'std::unique_ptr<XMLDocument,std::default_delete<_Ty>>'
2>        with
2>        [
2>            _Ty=XMLDocument
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(46): note: see declaration of 'std::unique_ptr<XMLDocument,std::default_delete<_Ty>>'
2>        with
2>        [
2>            _Ty=XMLDocument
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(527): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(527): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(528): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(528): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(644): error C2872: 'XMLDocument': ambiguous symbol
2>c:\program files (x86)\windows kits\10\include\10.0.17763.0\um\msxml.h(10095): note: could be 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\tinyXML2/tinyxml2.h(1650): note: or       'tinyxml2::XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(644): error C2079: 'doc' uses undefined class 'XMLDocument'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(685): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(685): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\xml_parsing.cpp(685): error C2661: 'tinyxml2::XMLElement::SetAttribute': no overloaded function takes 1 arguments
2>inverter_node.cpp
2>repeat_node.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(183): note: see reference to function template instantiation 'std::string BT::Any::errorMsg<DST>(void) const' being compiled
2>        with
2>        [
2>            DST=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(131): note: see reference to function template instantiation 'nonstd::expected_lite::expected<T,std::string> BT::Any::convert<T>(void *) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(213): note: see reference to function template instantiation 'T BT::Any::cast<std::string>(void) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\decorators\repeat_node.cpp(42): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<unsigned int>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=unsigned int
2>        ]
2>retry_node.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(183): note: see reference to function template instantiation 'std::string BT::Any::errorMsg<DST>(void) const' being compiled
2>        with
2>        [
2>            DST=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(131): note: see reference to function template instantiation 'nonstd::expected_lite::expected<T,std::string> BT::Any::convert<T>(void *) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(213): note: see reference to function template instantiation 'T BT::Any::cast<std::string>(void) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\decorators\retry_node.cpp(47): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<unsigned int>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=unsigned int
2>        ]
2>subtree_node.cpp
2>timeout_node.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(183): note: see reference to function template instantiation 'std::string BT::Any::errorMsg<DST>(void) const' being compiled
2>        with
2>        [
2>            DST=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(131): note: see reference to function template instantiation 'nonstd::expected_lite::expected<T,std::string> BT::Any::convert<T>(void *) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(213): note: see reference to function template instantiation 'T BT::Any::cast<std::string>(void) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\decorators\timeout_node.cpp(43): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<unsigned int>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=unsigned int
2>        ]
2>fallback_node.cpp
2>parallel_node.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(243): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(183): note: see reference to function template instantiation 'std::string BT::Any::errorMsg<DST>(void) const' being compiled
2>        with
2>        [
2>            DST=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/utils/safe_any.hpp(131): note: see reference to function template instantiation 'nonstd::expected_lite::expected<T,std::string> BT::Any::convert<T>(void *) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(213): note: see reference to function template instantiation 'T BT::Any::cast<std::string>(void) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\controls\parallel_node.cpp(41): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<unsigned int>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=unsigned int
2>        ]
2>reactive_sequence.cpp
2>Generating Code...
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\src\decorators\inverter_node.cpp(52): error C2220: warning treated as error - no 'object' file generated
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\src\decorators\inverter_node.cpp(52): warning C4702: unreachable code
2>Compiling...
2>reactive_fallback.cpp
2>sequence_node.cpp
2>sequence_star_node.cpp
2>bt_cout_logger.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): warning C4127: conditional expression is constant
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(211): note: consider using 'if constexpr' statement instead
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(49): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<std::string>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *const ' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(258): note: see reference to function template instantiation 'void BT::Blackboard::set<T>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(57): note: see reference to function template instantiation 'BT::Result BT::TreeNode::setOutput<std::string>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>bt_file_logger.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/loggers/bt_flatbuffer_helper.h(120): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/loggers/bt_flatbuffer_helper.h(120): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/loggers/bt_flatbuffer_helper.h(153): warning C4244: 'initializing': conversion from '_Rep' to 'uint32_t', possible loss of data
2>        with
2>        [
2>            _Rep=__int64
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\src\loggers\bt_file_logger.cpp(50): warning C4804: '>=': unsafe use of type 'bool' in operation
2>bt_minitrace_logger.cpp
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace/minitrace.h(232): error C2220: warning treated as error - no 'object' file generated
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace/minitrace.h(232): warning C4244: '=': conversion from 'int64_t' to 'double', possible loss of data
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(210): warning C4127: conditional expression is constant
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(211): note: consider using 'if constexpr' statement instead
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(49): note: see reference to function template instantiation 'BT::Result BT::TreeNode::getInput<std::string>(const std::string &,T &) const' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info *const ' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(170): note: Types pointed to are unrelated; conversion requires reinterpret_cast, C-style cast or function-style cast
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/tree_node.h(258): note: see reference to function template instantiation 'void BT::Blackboard::set<T>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/actions/set_blackboard_node.h(57): note: see reference to function template instantiation 'BT::Result BT::TreeNode::setOutput<std::string>(const std::string &,const T &)' being compiled
2>        with
2>        [
2>            T=std::string
2>        ]
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): error C2664: 'std::string BT::demangle(const char *)': cannot convert argument 1 from 'const type_info' to 'const char *'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\include\behaviortree_cpp/blackboard.h(171): note: No user-defined-conversion operator available that can perform this conversion, or the operator cannot be called
2>tinyxml2.cpp
2>minitrace.cpp
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\minitrace\minitrace.h(232): error C2220: warning treated as error - no 'object' file generated
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\minitrace\minitrace.h(232): warning C4244: '=': conversion from 'int64_t' to 'double', possible loss of data
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(87): warning C4244: 'initializing': conversion from 'double' to 'int64_t', possible loss of data
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(280): warning C4456: declaration of 'len' hides previous local declaration
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(241): note: see declaration of 'len'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(281): warning C4456: declaration of 'i' hides previous local declaration
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(228): note: see declaration of 'i'
2>P:\Compilados\x32-x64\TRABAJO_MSVC2017_x64\BehaviorTree.CPP\3rdparty\minitrace\minitrace.cpp(332): warning C4244: '=': conversion from 'int64_t' to 'double', possible loss of data
2>backward.cpp
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\backward-cpp\backward.hpp(788): error C2059: syntax error: '('
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\backward-cpp\backward.hpp(788): error C4430: missing type specifier - int assumed. Note: C++ does not support default-int
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\backward-cpp\backward.hpp(788): error C2059: syntax error: ')'
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\backward-cpp\backward.hpp(789): warning C4183: '__attribute__': missing return type; assumed to be a member function returning 'int'
2>p:\compilados\x32-x64\trabajo_msvc2017_x64\behaviortree.cpp\3rdparty\backward-cpp\backward.hpp(795): error C3861: 'backtrace': identifier not found
2>Generating Code...
2>Done building project "behaviortree_cpp_v3.vcxproj" -- FAILED.
3>------ Rebuild All started: Project: ALL_BUILD, Configuration: Debug x64 ------
3>Building Custom Rule P:/Compilados/x32-x64/TRABAJO_MSVC2017_x64/BehaviorTree.CPP/CMakeLists.txt
3>CMake does not need to re-run because P:/Compilados/x32-x64/TRABAJO_MSVC2017_x64/BehaviorTree.CPP/builds/debug/CMakeFiles/generate.stamp is up-to-date.
4>------ Skipped Rebuild All: Project: INSTALL, Configuration: Debug x64 ------
4>Project not selected to build for this solution configuration 
========== Rebuild All: 2 succeeded, 1 failed, 1 skipped ==========

DJuego

By updating the current_path to the included file's absolute path before recursing, all relative paths are relative to the included file. After recursively including the new tree, the change to current_path is undone.

Added unit tests to verify new behavior. The new unit tests aren't built for catkin or ament because I wasn't sure where to copy the test tree files.

Because the trees are included using relative paths to the test executable, they fail if the current working directory is not the same as the trees/ directory i.e., ./behaviortree_cpp_v3_test works but ./bin/behaviortree_cpp_v3_test fails. I'd like to resolve this prior to merging but not sure how to.

Fixes #324

Hi,

I have a behavior tree which is similar to the one shown below. I use docker containers to run and launch nodes. I want to pass a string as a variable to the tree from my docker-compose file so that I can chose between different setups. Is there any way I can get this easily?

<Switch2 variable="{window_number}" case_1="window_1" case_2="window_2">
    <Action ID="OpenWindow" door="window_1"/>
    <Action ID="OpenWindow" door="window_2"/>
    <Action ID="OpenWindow" door="none"/>
</Switch2>

In the above example, I want to set the value of the window_number variable from docker-compose file.

I found SequenceNode returning RUNNING status when tree is tickOnce and first child return success while second child not ticked.

I used the newest code, and found these in source code of sequence_node.cpp.

    case NodeStatus::SUCCESS: {
        current_child_idx_++;
        // Return the execution flow if the child is async,
        // to make this interruptable.
        if (requiresWakeUp() && prev_status == NodeStatus::IDLE &&
            current_child_idx_ < children_count)
        {
          emitWakeUpSignal();
          return NodeStatus::RUNNING;
        }
      }

while in v3.8, it will not return RUNNING, and continue to tick next child node. And I think this is the logic I wanted.

    switch (child_status)
    {
      case NodeStatus::RUNNING: {
        return child_status;
      }
      case NodeStatus::FAILURE: {
        // Reset on failure
        resetChildren();
        current_child_idx_ = 0;
        return child_status;
      }
      case NodeStatus::SUCCESS: {
        current_child_idx_++;
      }
      break;

      case NodeStatus::IDLE: {
        throw LogicError("A child node must never return IDLE");
      }
    } 

The return NodeStatus::RUNNING; should be deleted in first code I think.

Hi,

Sorry for spamming here, but I can not register to the discourse forum. I am not receiving the activation email, I tried both with gmail and microsoft emails, waiting a day and trying to resend them

Thanks!

Hi, I am new to Behavior tree so I follow the tutorials (v4.0).

In Tutorials - Basics 04. Reactive behaviors.

class MoveBaseAction : public BT::StatefulAsyncAction

I got the error in BT::StatefulAsyncAction.

I tried to find BT::StatefulAsyncAction in http://docs.ros.org/en/kinetic/api/behaviortree_cpp_v3/html/namespaceBT.html

But I can't find BT::StatefulAsyncAction too.

I just can find BT::StatefulActionNode. But I am not sure this class performs async operation.

Please let me know if I'm doing something wrong or if I'm misunderstanding something.

• For ROS1 packages, the ros_pkg attribute of the <include> tag can no longer be used to specify a path to a Subtree.
• This commit is probably the one which we believe introduced the problem
• Problem was found when we made the upgrade from v3.6.1 -> v3.8.1

The include tag wasn't working properly for ROS1 applications when used with the ros_pkg argument. For instance, a BT that had this line:

<include ros_pkg="bt_tools_craftsman" path="behaviors/add_affordance_template.xml" />

would crash, with the error of XML_FILE_NOT_FOUND. This fix solves the issue.