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

Author: facontidavide

CMakeLists.txt

@@ -230,6 +230,7 @@ endif()
 if(ament_cmake_FOUND)
     find_package(ament_index_cpp REQUIRED)
     ament_target_dependencies(${BEHAVIOR_TREE_LIBRARY} PUBLIC ament_index_cpp)
+    ament_export_dependencies(ament_index_cpp)
 
     set( BEHAVIOR_TREE_LIB_DESTINATION   lib )
     set( BEHAVIOR_TREE_INC_DESTINATION   include )

docs/tutorial_02_basic_ports.md

@@ -189,16 +189,13 @@ static value into an entry using the built-in Actions called `SetBlackboard`.
 
 ## A complete example
 
-In this example, a Sequence of 5 Actions is executed:
+In this example, a Sequence of 4 Actions is executed:
 
-- Actions 1 and 4 read the input `message` from a static string.
+- Actions 1 and 2 read the input `message` from a static string (`SaySomething2` is a SimpleActionNode).
 
-- Actions 3 and 5 read the input `message` from an entry in the
-  blackboard called `the_answer`.
+- Action 3 writes something into the entry of the blackboard called `the_answer`.
 
-- Action 2 writes something into the entry of the blackboard called `the_answer`.
-
-`SaySomething2` is a SimpleActionNode. 
+- Action 4 read the input `message` from an entry in the blackboard called `the_answer`.
 
 ```XML
 <root main_tree_to_execute = "MainTree" >

docs/tutorial_09_coroutines.md

@@ -105,7 +105,7 @@ class MyAsyncAction: public CoroActionNode
         CoroActionNode::halt();
     }
 
-    Timepoint Now()
+    TimePoint Now()
     { 
         return std::chrono::high_resolution_clock::now(); 
     };

include/behaviortree_cpp_v3/blackboard.h

@@ -116,8 +116,8 @@ class Blackboard
     template <typename T>
     void set(const std::string& key, const T& value)
     {
-        std::unique_lock<std::mutex> lock(mutex_);
         std::unique_lock<std::mutex> lock_entry(entry_mutex_);
+        std::unique_lock<std::mutex> lock(mutex_);
         auto it = storage_.find(key);
 
         if( auto parent = parent_bb_.lock())