feat: Port to BehaviorTree.CPP v4

Author: 2b-t

CMakeLists.txt

@@ -1,15 +1,15 @@
 cmake_minimum_required(VERSION 3.5.1) # version on Ubuntu Trusty
 project(behaviortree_ros)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 ######################################################
 
 set(ROS_DEPENDENCIES
     roscpp std_msgs
-    behaviortree_cpp_v3
+    behaviortree_cpp
     actionlib_msgs
     actionlib
     message_generation)

include/behaviortree_ros/bt_action_node.h

@@ -16,8 +16,8 @@
 #ifndef BEHAVIOR_TREE_BT_ACTION_NODE_HPP_
 #define BEHAVIOR_TREE_BT_ACTION_NODE_HPP_
 
-#include <behaviortree_cpp_v3/action_node.h>
-#include <behaviortree_cpp_v3/bt_factory.h>
+#include <behaviortree_cpp/action_node.h>
+#include <behaviortree_cpp/bt_factory.h>
 #include <ros/ros.h>
 #include <actionlib/client/simple_action_client.h>
 

include/behaviortree_ros/bt_service_node.h

@@ -16,8 +16,8 @@
 #ifndef BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_
 #define BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_
 
-#include <behaviortree_cpp_v3/action_node.h>
-#include <behaviortree_cpp_v3/bt_factory.h>
+#include <behaviortree_cpp/action_node.h>
+#include <behaviortree_cpp/bt_factory.h>
 #include <ros/ros.h>
 #include <ros/service_client.h>
 

include/behaviortree_ros/loggers/rosout_logger.h

@@ -1,7 +1,7 @@
 #ifndef BT_ROSOUT_LOGGER_H
 #define BT_ROSOUT_LOGGER_H
 
-#include <behaviortree_cpp_v3/loggers/abstract_logger.h>
+#include <behaviortree_cpp/loggers/abstract_logger.h>
 #include <ros/console.h>
 
 namespace BT

package.xml

@@ -13,13 +13,13 @@
 
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
-  <build_depend>behaviortree_cpp_v3</build_depend>
+  <build_depend>behaviortree_cpp</build_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>actionlib_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
-  <run_depend>behaviortree_cpp_v3</run_depend>
+  <run_depend>behaviortree_cpp</run_depend>
   <run_depend>actionlib</run_depend>
   <run_depend>actionlib_msgs</run_depend>
 

test/test_bt.cpp

@@ -196,7 +196,7 @@ int main(int argc, char **argv)
   while( ros::ok() && (status == NodeStatus::IDLE || status == NodeStatus::RUNNING))
   {
     ros::spinOnce();
-    status = tree.tickRoot();
+    status = tree.tickOnce();
     std::cout << status << std::endl;
     ros::Duration sleep_time(0.01);
     sleep_time.sleep();