.codespell_ignore_words

@@ -0,0 +1,7 @@
+INOUT
+InOut
+delimeter
+Succesful
+worl
+valu
+Exeption

.github/workflows/cmake_ubuntu.yml

@@ -1,6 +1,11 @@
 name: cmake Ubuntu
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
@@ -15,22 +20,17 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-20.04]
+        os: [ubuntu-22.04]
 
     steps:
     - uses: actions/checkout@v2
 
     - name: Install Conan
       id: conan
       uses: turtlebrowser/get-conan@main
-      with:
-        version: 1.59.0
 
     - name: Create default profile
-      run: conan profile new default --detect
-
-    - name: Update profile
-      run: conan profile update settings.compiler.libcxx=libstdc++11 default
+      run: conan profile detect
 
     - name: Create Build Environment
       # Some projects don't allow in-source building, so create a separate build directory
@@ -44,16 +44,16 @@ jobs:
     - name: Configure CMake
       shell: bash
       working-directory: ${{github.workspace}}/build
-      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
+      run: cmake ${{github.workspace}} -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
 
     - name: Build
       shell: bash
       working-directory: ${{github.workspace}}/build
       run: cmake --build . --config ${{env.BUILD_TYPE}}
 
     - name: run test (Linux)
-      working-directory: ${{github.workspace}}/build
-      run: ./tests/behaviortree_cpp_test
+      working-directory: ${{github.workspace}}/build/tests
+      run: ctest
 
     - name: Upload coverage reports to Codecov
       uses: codecov/codecov-action@v3

.github/workflows/cmake_windows.yml

@@ -1,6 +1,11 @@
 name: cmake Windows
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)

.github/workflows/doxygen-gh-pages.yml

@@ -0,0 +1,18 @@
+name: Doxygen GitHub Pages Deploy Action
+
+on:
+  push:
+    branches:
+      - main
+      - master
+
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: DenverCoder1/doxygen-github-pages-action@v2.0.0
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          folder: doc/html

.github/workflows/pixi.yaml

@@ -1,6 +1,11 @@
 name: Pixi (conda)
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   pixi_conda_build:
@@ -13,9 +18,9 @@ jobs:
     steps:
       # Pixi is the tool used to create/manage conda environment
       - uses: actions/checkout@v3
-      - uses: prefix-dev/setup-pixi@v0.4.1
+      - uses: prefix-dev/setup-pixi@v0.8.1
         with:
-          pixi-version: v0.16.1
+          pixi-version: v0.40.3
       - name: Build
         run: pixi run build
       - name: Run tests

.github/workflows/pre-commit.yaml

@@ -1,9 +1,11 @@
 name: pre-commit
 
 on:
-  pull_request:
   push:
-    branches: [master]
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   pre-commit:

.github/workflows/ros2-rolling.yaml

@@ -1,6 +1,11 @@
 name: ros2-rolling
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   industrial_ci:

.github/workflows/ros2.yaml

@@ -1,14 +1,19 @@
 name: ros2
 
-on: [push, pull_request]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
 
 jobs:
   industrial_ci:
     strategy:
       matrix:
         env:
           - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: iron, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v3

.github/workflows/sonarcube.yml.bkp

@@ -0,0 +1,42 @@
+name: Sonarcube Scan
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    env:
+      BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Install Build Wrapper
+        uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v4
+
+      - name: Install Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libzmq3-dev libsqlite3-dev
+
+      - name: Install googletest
+        uses: Bacondish2023/setup-googletest@v1
+
+      - name: Run Build Wrapper
+        run: |
+          mkdir build
+          cmake -S . -B build
+          build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} cmake --build build/ --config Release
+      - name: SonarQube Scan
+        uses: SonarSource/sonarqube-scan-action@v4
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} # Put the name of your token here
+        with:
+          args: >
+            --define sonar.cfamily.compile-commands="${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json"

.gitignore

@@ -16,3 +16,5 @@ CMakeSettings.json
 .pixi
 
 CMakeUserPresets.json
+
+tags

.pre-commit-config.yaml

@@ -42,3 +42,13 @@ repos:
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
+
+  # Spell check
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.4.1
+    hooks:
+      - id: codespell
+        additional_dependencies:
+        -   tomli
+        args:
+            [--toml=./pyproject.toml]

CHANGELOG.rst

@@ -2,6 +2,83 @@
 Changelog for package behaviortree_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.7.2 (2025-05-29)
+------------------
+* Fix issue `#978 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/978>`_ : skipped was not working properly
+* Added codespell as a pre-commit hook. (`#977 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/977>`_)
+* fix: Make impossible to accidentally copy JsonExporter singleton (`#975 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/975>`_)
+* Contributors: Davide Faconti, Leander Stephen D'Souza, tony-p
+
+4.7.1 (2025-05-13)
+------------------
+* fix ROS CI
+* Add action to publish Doxygen documentation as GH Page (`#972 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/972>`_)
+* Update Doxyfile
+* Make BT::Any::copyInto const (`#970 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/970>`_)
+* more changes related to TestNode
+* Contributors: David Sobek, Davide Faconti, Marcus Ebner von Eschenbach
+
+4.7.0 (2025-04-24)
+------------------
+* change TestNodeConfig preferred constructor
+* Fix dangling‐capture in TestNodeConfig
+* Fix Precondition to only check condition once (`#904 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/904>`_)
+* fix issue 945
+* extend JSON conversion to include vectors (`#965 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/965>`_)
+* Fix CI, add BUILD_TESTS and remove catkin support
+* Fix testing CMake issue to resolve Rolling regression (`#961 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/961>`_)
+* Bug fix/set blackboard (`#955 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/955>`_)
+* feat: add fuzzing harnesses (`#925 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/925>`_)
+* fix warnings
+* Add const to applyVisitor (`#935 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/935>`_)
+* try fix (`#941 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/941>`_)
+* add workflow for sonarcube (`#936 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/936>`_)
+* Fix issue `#909 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/909>`_: static queue in Loop
+* apply changes suggested in `#893 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/893>`_
+* apply fix mentioned in `#916 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/916>`_
+* apply fixes suggested in `#919 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/919>`_
+* fix issue `#918 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/918>`_ (introduced in `#885 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/885>`_)
+* add fix suggested in `#920 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/920>`_
+* add unit test related to `#931 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/931>`_
+* Fix compilation error when targeting C++23 (`#926 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/926>`_)                   ^~~~~~~~~~~~~
+* Fixes issue # `#929 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/929>`_ and `#921 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/921>`_
+* apply check suggested in `#924 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/924>`_
+* Fix ROS 2 build when ZeroMQ or SQlite3 include are not in the default include path (`#911 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/911>`_)
+  * Fix ROS 2 build when ZeroMQ or SQlite3 include are not in the default include path
+  * Update ament_build.cmake
+* Fix/use correct compiler pixi/conda (`#914 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/914>`_)
+  * fix: Use the cxx-compiler package which will set the correct compiler for the platform, and setup the required environment for it to work as expected
+  * misc: update pixi versions in pipeline
+* Add "other ports" to NodeConfig (`#910 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/910>`_)
+* [retry_node] Refresh max_attempts\_ in case it changed (`#905 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/905>`_)
+  Co-authored-by: Guillaume Doisy <guillaume@dexory.com>
+* use relative path in .Doxyfile (`#882 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/882>`_)
+* Additional XML verification for ReactiveSequence nodes (`#885 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/885>`_)
+  Co-authored-by: AndyZe <andyzelenak@apptronik.com>
+* fix script parse error while 'A==-1' (`#896 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/896>`_)
+  Co-authored-by: wangzheng <wangz@oasisrobotics.tech>
+* Expose return value of wait_for (`#887 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/887>`_)
+* fix(examples): update t11_groot_howto log filename (`#886 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/886>`_)
+* put minitrace in the build_interface link library (`#874 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/874>`_)
+  fixes the cmake export set when building behavior tree on standard cmake: CMake Error: install(EXPORT "behaviortree_cppTargets" ...) includes target "behaviortree_cpp" which requires target "minitrace" that is not in any export set.
+* Improved XML parsing error message to say where in the XML the offending port is found. (`#876 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/876>`_)
+  Example output:
+  a port with name [ball_pose] is found in the XML (<GrabBall>, line 7) but not in the providedPorts() of its registered node type.
+* Refactored the TreeNode::executeTick() function to use a scoped timer for performance monitoring. (`#861 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/861>`_) (`#863 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/863>`_)
+  Update src/tree_node.cpp
+  Co-authored-by: wangzheng <wangz@oasisrobotics.tech>
+  Co-authored-by: Davide Faconti <davide.faconti@gmail.com>
+* fix issue `#852 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/852>`_: thread safety in Loggers
+* Lexy updated
+* tinyXML updated to version 10.0
+* cppzmq updated to version 4.10
+* fix the "all_skipped" logic
+* fixed: support utf-8 path xml-file (`#845 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/845>`_)
+  * fixed: 1. added compile version check to support Chinese path xml-file parsing 2. cmake add msvc /utf-8 options
+  * change cmake /utf-8 option add mode
+* Export plugins to share directory & register CrossDoor plugin (`#804 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/804>`_)
+* Contributors: Aglargil, AndyZe, Antoine Hoarau, David Sobek, Davide Faconti, Guillaume Doisy, Isar Meijer, Jake Keller, Marq Rasmussen, Michele Tartari, Silvio Traversaro, Tony Najjar, b-adkins, ckrah, devis12, kinly, tony-p, vincent-hui
+
 4.6.2 (2024-06-26)
 ------------------
 * Initialize template variable `T out` (`#839 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/839>`_)
@@ -46,7 +123,7 @@ Changelog for package behaviortree_cpp
 * warn about overwritten enums
 * fix ambiguous to_json
 * Extend unit test for blackboard backup to run the second tree (`#789 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/789>`_)
-* json convertion changed and
+* json conversion changed and
 * 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>`_)
 * Update switch_node.h
 * test moved and port remapping fixed
@@ -323,7 +400,7 @@ Changelog for package behaviortree_cpp
 * better include paths
 * Control node and Decorators RUNNING before first child
 * blackboard: update getKeys and add mutex to scripting
-* add [[nodiscard]] and some othe minor changes
+* add [[nodiscard]] and some other minor changes
 * add screenshot
 * change the behavior of tickOnce to actually loop is wake up signal is… (`#522 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/522>`_)
   * change the behavior of tickOnce to actually loop is wake up signal is received
@@ -422,7 +499,7 @@ Changelog for package behaviortree_cpp
   dependency explicitly.
 * Change order of lock to prevent deadlock. (`#368 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/368>`_)
   Resolves `#367 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/367>`_.
-* Fix `#320 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/320>`_ : forbit refrences in Any
+* Fix `#320 <https://github.com/BehaviorTree/BehaviorTree.CPP/issues/320>`_ : forbid references in Any
 * Update action_node.h
 * Contributors: Adam Sasine, Davide Faconti, Fabian Schurig, Griswald Brooks, Hyeongsik Min, Robodrome, imgbot[bot], panwauu
 
@@ -769,9 +846,9 @@ Changelog for package behaviortree_cpp
 * Conan package distribution (#39)
 * Non-functional refactoring of xml_parsing to clean up the code
 * cosmetic changes in the code of BehaviorTreeFactory
-* XML schema. Related to enchancement #40
+* XML schema. Related to enhancement #40
 * call setRegistrationName() for built-in Nodes
-  The methos is called by BehaviorTreefactory, therefore it
+  The method is called by BehaviorTreefactory, therefore it
   registrationName is empty if trees are created programmatically.
 * Reset reference count when destroying logger (issue #38)
 * Contributors: Davide Facont, Davide Faconti, Uilian Ries
@@ -787,7 +864,7 @@ Changelog for package behaviortree_cpp
 ------------------
 * adding virtual TreeNode::onInit() [issue #33]
 * fix issue #34 : if you don't implement convertFromString, it will compile but it may throw
-* Pretty demangled names and obsolate comments removed
+* Pretty demangled names and obsolete comments removed
 * bug fixes
 * more comments
 * [enhancement #32]: add CoroActionNode and rename ActionNode as "AsynActionNode"
@@ -854,7 +931,7 @@ Changelog for package behaviortree_cpp
 * Fix: registerBuilder did not register the manifest. It was "broken" as public API method
 * Use the Pimpl idiom to hide zmq from the header file
 * move header of minitrace in the cpp file
-* Fixed a crash occuring when you didn't initialized a Tree object (#20)
+* Fixed a crash occurring when you didn't initialized a Tree object (#20)
 * Fix issue #16
 * add ParallelNode to pre-registered entries in factory (issue #13)
 * removed M_PI