4.5.0: Ports with Any type and Metadata

Noteworthy changes

• It is now possible to create ports with type BT::Any. These ports can connect to each other or to strongly typed ports
• Optional metadata can be added to the manifest, implementing the static method KeyValueVector metadata() in your custom TreeNode.
• Any::castPtr added, to access the content of Any without copying.
• Any::isType() will now compare to the original type, not the casted one
• Function writeTreeXSD() added

4.4.2: Prevent empty output ports

The most notable addition in this release is related to this issue: #702

The only valid ports are those remapped to a port entry.

4.4.0: SubTree Model added

This version introduces some refactoring of the Blackboard class and other minor bug fixes.

But the most important change is the introduction of the SubTree Model.

See example ex05_subtree_mode.cpp for details

4.3.8: Bug fixes and Reactive nodes

• fixed a potential busy look caused by WakeUpSignal
• Added tutorial 13 (how to build your own plugins)
• The scripting language can now accept (and ignore) newlines.

Important

Both ReactiveSequence and ReactiveFallback were updated to better resemble each other and, partially, the logic they add in version 3.8.

Report any issue you may have.

4.3.7: Fixing generic port type matching

This is the most improtant change in this release: 57a2663

Related to this issue: #653

Previously, ports created by SetBlackboard would be recognized as strings instead of being considered "typeless" (as they should).

4.3.6: Changes in Tutorial 12 and ReactiveFallback

• Tutorial 12 was improved to make it easier to register custom type in the "blackboard visualized" of Groot2.

• ReactiveFallback was fixed

• Pre conditions script will be invoked less often now (i.e., only when really required)

4.3.5: Bug fixes, mostly

• fix issue #621: ConsumeQueue
• add template specialization for convertFromString deque (#628)
• Update groot2_publisher.h (#630)
• unit test issue #629
• WhileDoElseNode can have 2 or 3 children (#625)
• fix issue #624 : add TimeoutNode::halt()
• fix recording_fist_time issue on windows (#618)

4.3.4: Bug fixes and Node description

Hi,

this release fix few bugs.

• Fix error #617 in TestNode
• minitrace updated
• fix issue #615 : don't execute preconditions if state is RUNNING
• fix issue #605: strip whitespaces and better error message
• Export cxx-standard with target. (#604)
• feature #603: add static method [std::string description()] to manifest
• fix issue with move semantic

The most noteworthy addition is described here: #603

It is now possible to add a description of your node into the manifest of that node. That description will be exported in the section <TreeNodesModel> of your XML.

4.3.3: Fix onHalted and added Groot2 recording

Record logs from Groot2

A new functionality introduced in Groot2 (1.0.0) is the ability to record a log in the Monitor mode.
To allow this functionality, version 4.3.3 of BehaviorTree.CPP must be used.

Important bug fix in post conditions

#601 : onHalted was not invoked correctly by some ControlNodes.

4.3.2: More nodes and better error messages

Changes since version 4.3.1

• Added ParallelAll node
• Much better error messages when there is an error in the scripting language
• Fix issues preventing Parallel (and probably other nodes) from using correctly _skipIf