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‎.github/ISSUE_TEMPLATE/bug_report.md‎

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---
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name: Bug report
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about: Help me help you...
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title: ''
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labels: ''
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assignees: ''
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---
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**Describe the bug**
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A clear and concise description of what the bug is.
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If you are experiencing a crash, provide a backtrace (GDB or similar).
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*How to Reproduce**
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Please provide a specific description of how to reproduce the issue or source code that can be compiled and executed. Please attach a file/project that is easy to compile, don't copy and paste code snippets!
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Even better, create a Pull Request with a failing unit test.

‎.github/ISSUE_TEMPLATE/feature_request.md‎

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---
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name: Feature request
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about: Suggest an idea for this project
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title: ''
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labels: ''
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assignees: ''
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---
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**Is your feature request related to a problem? Please describe.**
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A clear and concise description of what the problem is.
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**Describe the solution you'd like**
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A clear and concise description of what you want to happen.
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**Describe alternatives you've considered**
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A clear and concise description of any alternative solutions or features you've considered.
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**Additional context**
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Add any other context or screenshots about the feature request here.

‎CHANGELOG.rst‎

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Changelog for package behaviortree_cpp
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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4.6.0 (2024-04-28)
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------------------
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* add tutorial 19 about the global blackboard
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* renamed examples to match website
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* Update TestNode and the corresponding tutorial
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* bug fixes related to sequence_id and unit tests added
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* Add string concatenation operator to scripting (`#802 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/802>`_)
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* Add library alias for BT::behaviortree_cpp (`#808 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/808>`_)
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* add Time Stamped blackboard (`#805 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/805>`_)
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* add additional information and functionality to SQLiteLogger
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* add syntax for entries in the root blackboard ("@" prefix)
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* Fix/pixi build (`#791 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/791>`_)
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* fix unit tests in Windows
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* fix windows compilation
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* Update cmake_windows.yml
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* Deprecate Balckboard::clear(). Issue `#794 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/794>`_
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* Support string vector conversion for ports (`#790 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/790>`_)
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* add more convertToString for integers
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* warn about overwritten enums
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* fix ambiguous to_json
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* Extend unit test for blackboard backup to run the second tree (`#789 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/789>`_)
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* json convertion changed and
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* issue `#755 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/755>`_ : add backchaining test and change reactive nodes checks (`#770 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/770>`_)
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* Update switch_node.h
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* test moved and port remapping fixed
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* Create pull_request_template.md
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* adding pre-commit
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* handle enums conversions is assignment
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* Contributors: Davide Faconti, Sean Geles, Sebastian Castro, Victor Massagué Respall, avikus-seonghyeon.kwon, tony-p
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4.5.2 (2024-03-07)
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------------------
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* bugfix: string to enum/integer/boolean in scripts

‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.16.3) # version on Ubuntu Focal
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project(behaviortree_cpp VERSION 4.5.2 LANGUAGES C CXX)
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project(behaviortree_cpp VERSION 4.6.0 LANGUAGES C CXX)
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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 "${CMAKE_CONFIG_PATH}")
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src/actions/test_node.cpp
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src/actions/sleep_node.cpp
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src/actions/updated_action.cpp
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src/decorators/delay_node.cpp
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src/decorators/inverter_node.cpp
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src/decorators/repeat_node.cpp
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src/decorators/retry_node.cpp
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src/decorators/timeout_node.cpp
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src/decorators/skip_unless_updated.cpp
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src/decorators/subtree_node.cpp
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src/decorators/wait_update.cpp
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src/decorators/timeout_node.cpp
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src/decorators/updated_decorator.cpp
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src/controls/if_then_else_node.cpp
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src/controls/fallback_node.cpp
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target_compile_options(${BTCPP_LIBRARY} PRIVATE -Wall -Wextra)
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endif()
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add_library(BT::${BTCPP_LIBRARY} ALIAS ${BTCPP_LIBRARY})
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#############################################################
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message( STATUS "BTCPP_LIB_DESTINATION: ${BTCPP_LIB_DESTINATION} " )
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message( STATUS "BTCPP_INCLUDE_DESTINATION: ${BTCPP_INCLUDE_DESTINATION} " )

‎README.md‎

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![License MIT](https://img.shields.io/github/license/BehaviorTree/BehaviorTree.CPP?color=blue)
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![Version](https://img.shields.io/badge/version-4.5-blue.svg)
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![Version](https://img.shields.io/badge/version-4.6-blue.svg)
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[![conan Ubuntu](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_ubuntu.yml)
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[![conan Windows](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/cmake_windows.yml)
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[![ros1](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros1/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros1)
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[![ros2](https://github.com/BehaviorTree/BehaviorTree.CPP/workflows/ros2/badge.svg?branch=master)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions?query=workflow%3Aros2)
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[![pixi (Conda)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml/badge.svg)](https://github.com/BehaviorTree/BehaviorTree.CPP/actions/workflows/pixi.yaml)
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# BehaviorTree.CPP 4.5
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# BehaviorTree.CPP 4.6
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<p align="center"><img width=350 src="animated.svg"></p>
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If the documentation doesn't answer your questions and/or you want to
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connect with the other **BT.CPP** users, visit [our forum](https://github.com/BehaviorTree/BehaviorTree.CPP/discussions)
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## Previous version
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Version 3.8 of the software can be found in the branch
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[v3.8](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/v3.8).
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That branch might receive bug fixes, but the new features will be implemented
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only in the master branch.
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# GUI Editor
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Editing a BehaviorTree is as simple as editing an XML file in your favorite text editor.
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[![Star History Chart](https://api.star-history.com/svg?repos=BehaviorTree/BehaviorTree.CPP&type=Date)](https://star-history.com/#BehaviorTree/BehaviorTree.CPP&Date)
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## Previous version
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Version 3.8 of the software can be found in the branch
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[v3.8](https://github.com/BehaviorTree/BehaviorTree.CPP/tree/v3.8).
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That branch might receive bug fixes, but the new features will be implemented
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only in the master branch.
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# License
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‎examples/CMakeLists.txt‎

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CompileExample("t08_additional_node_args")
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CompileExample("t09_scripting")
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CompileExample("t10_observer")
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CompileExample("t11_replace_rules")
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if(BTCPP_GROOT_INTERFACE AND BTCPP_SQLITE_LOGGING)
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CompileExample("t12_groot_howto")
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CompileExample("generate_log")
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if(BTCPP_GROOT_INTERFACE)
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CompileExample("t11_groot_howto")
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endif()
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CompileExample("t12_default_ports")
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CompileExample("t13_access_by_ref")
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CompileExample("t14_subtree_model")
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CompileExample("t15_nodes_mocking")
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CompileExample("t16_global_blackboard")
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CompileExample("t17_blackboard_backup")
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CompileExample("t18_waypoints")
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CompileExample("ex01_wrap_legacy")
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CompileExample("ex02_runtime_ports")
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CompileExample("ex04_waypoints")
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CompileExample("ex05_subtree_model")
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CompileExample("ex06_access_by_ptr")
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CompileExample("ex07_blackboard_backup")
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CompileExample("t13_plugin_executor")
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if(BTCPP_SQLITE_LOGGING)
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CompileExample("ex03_sqlite_log")
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endif()
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############ Create plugin and executor in folder plugin_example ##########
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############ Create plugin for tutorial 13 ##########
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# library must be SHARED
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add_library(t13_plugin_action SHARED t13_plugin_action.cpp )
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add_library(test_plugin_action SHARED plugin_example/plugin_action.cpp )
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target_compile_definitions(t13_plugin_action PRIVATE BT_PLUGIN_EXPORT )
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# remove the "lib" prefix. Name of the file will be t13_plugin_action.so
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set_target_properties(t13_plugin_action PROPERTIES PREFIX "")
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target_compile_definitions(test_plugin_action PRIVATE BT_PLUGIN_EXPORT )
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set_target_properties(test_plugin_action PROPERTIES PREFIX "")
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target_link_libraries(test_plugin_action ${BTCPP_LIBRARY} )
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add_executable(test_plugin_executor plugin_example/plugin_executor.cpp )
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target_link_libraries(test_plugin_executor ${BTCPP_LIBRARY})

‎examples/broken_sequence.cpp‎

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