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

Author: facontidavide

.github/workflows/cmake.yml

@@ -48,5 +48,5 @@ jobs:
     - name: run test (Linux)
       if: matrix.os == 'ubuntu-latest'
       working-directory: ${{github.workspace}}/build
-      run: ./bin/behaviortree_cpp_v3_test
+      run: ./tests/behaviortree_cpp_v3_test
 

CMakeLists.txt

@@ -23,6 +23,7 @@ option(BUILD_SAMPLES    "Build sample nodes" ON)
 option(BUILD_UNIT_TESTS "Build the unit tests" ON)
 option(BUILD_TOOLS "Build commandline tools" ON)
 option(BUILD_SHARED_LIBS "Build shared libraries" ON)
+option(BUILD_MANUAL_SELECTOR "Build manual selector node" ON)
 option(ENABLE_COROUTINES "Enable boost coroutines" ON)
 
 #---- Include boost to add coroutines ----
@@ -166,14 +167,17 @@ list(APPEND BT_SOURCE
     3rdparty/minitrace/minitrace.cpp
     )
 
-find_package(Curses QUIET)
-
-if(CURSES_FOUND)
-    list(APPEND BT_SOURCE
-        src/controls/manual_node.cpp
-        )
-    list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
-    add_definitions(-DNCURSES_FOUND)
+if(BUILD_MANUAL_SELECTOR)
+    find_package(Curses QUIET)
+    if(CURSES_FOUND)
+        list(APPEND BT_SOURCE
+            src/controls/manual_node.cpp
+            )
+        list(APPEND BEHAVIOR_TREE_PUBLIC_LIBRARIES ${CURSES_LIBRARIES})
+        add_definitions(-DNCURSES_FOUND)
+    else()
+        message(WARNING "NCurses NOT found. Skipping the build of manual selector node.")
+    endif()
 endif()
 
 
@@ -252,16 +256,12 @@ else()
     set( BEHAVIOR_TREE_INC_DESTINATION   include )
     set( BEHAVIOR_TREE_BIN_DESTINATION   bin )
 
-    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_BIN_DESTINATION}" )
-    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_LIB_DESTINATION}" )
-    set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${BEHAVIOR_TREE_BIN_DESTINATION}" )
 endif()
 
 message( STATUS "BEHAVIOR_TREE_LIB_DESTINATION:   ${BEHAVIOR_TREE_LIB_DESTINATION} " )
 message( STATUS "BEHAVIOR_TREE_BIN_DESTINATION:   ${BEHAVIOR_TREE_BIN_DESTINATION} " )
-message( STATUS "CMAKE_RUNTIME_OUTPUT_DIRECTORY:  ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} " )
-message( STATUS "CMAKE_LIBRARY_OUTPUT_DIRECTORY:  ${CMAKE_LIBRARY_OUTPUT_DIRECTORY} " )
-message( STATUS "CMAKE_ARCHIVE_OUTPUT_DIRECTORY:  ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY} " )
+message( STATUS "BUILD_UNIT_TESTS:   ${BUILD_UNIT_TESTS} " )
+
 
 ######################################################
 # Samples

README.md

@@ -1,10 +1,10 @@
 ![License MIT](https://img.shields.io/github/license/BehaviorTree/BehaviorTree.CPP?color=blue)
-![Version](https://img.shields.io/badge/version-3.6-blue.svg)
+![Version](https://img.shields.io/badge/version-3.7-blue.svg)
 [![cmake](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake.yml)
 [![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
 [![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)
 [![LGTM Grade](https://img.shields.io/lgtm/grade/cpp/github/BehaviorTree/BehaviorTree.CPP)](https://lgtm.com/projects/g/BehaviorTree/BehaviorTree.CPP/context:cpp)
-[![Join the chat at https://gitter.im/BehaviorTree-ROS/Lobby](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/BehaviorTree-ROS/Lobby?utm_source=badge&utm_medium=badge&utm_content=badge)
+![Discourse topics](https://img.shields.io/discourse/topics?server=https%3A%2F%2Fdiscourse.behaviortree.dev)
 
 # BehaviorTree.CPP
 

docs/tutorial_05_subtrees.md

@@ -44,7 +44,14 @@ It is also the first practical example that uses `Decorators` and `Fallback`.
 </root>
 ```
 
-It may be noticed that we incapsulated a quite complex branch of the tree,
+For readability, our custom nodes are registered with the one-liner:
+
+`CrossDoor::RegisterNodes(factory);`
+
+Default nodes provided by the BT library such as `Fallback` are already registered by
+the BehaviorTreeFactory.
+
+It may be noticed that we encapsulated a quite complex branch of the tree,
 the one to execute when the door is closed, into a separate tree called
 `DoorClosed`.
 

examples/t05_crossdoor.cpp

@@ -61,7 +61,9 @@ int main(int argc, char** argv)
 {
     BT::BehaviorTreeFactory factory;
 
-    // register all the actions into the factory
+    // Register our custom nodes into the factory.
+    // Any default nodes provided by the BT library (such as Fallback) are registered by
+    // default in the BehaviorTreeFactory.
     CrossDoor::RegisterNodes(factory);
 
     // Important: when the object tree goes out of scope, all the TreeNodes are destroyed

src/loggers/bt_zmq_publisher.cpp

@@ -91,12 +91,12 @@ PublisherZMQ::PublisherZMQ(const BT::Tree& tree,
 PublisherZMQ::~PublisherZMQ()
 {
     active_server_ = false;
-    zmq_->context.shutdown();
     if (thread_.joinable())
     {
         thread_.join();
     }
     flush();
+    zmq_->context.shutdown();
     delete zmq_;
     ref_count = false;
 }

tests/CMakeLists.txt

@@ -62,8 +62,8 @@ elseif(BUILD_UNIT_TESTS)
     add_custom_command(TARGET ${BEHAVIOR_TREE_LIBRARY}_test POST_BUILD
         COMMAND ${CMAKE_COMMAND} -E copy_directory
             ${CMAKE_SOURCE_DIR}/tests/trees
-            ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/trees)
+            trees)
 
-    add_test(BehaviorTreeCoreTest ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/${BEHAVIOR_TREE_LIBRARY}_test)
+    add_test(BehaviorTreeCoreTest ${BEHAVIOR_TREE_LIBRARY}_test)
 
 endif()