Merge pull request #703 from galou/export_xsd

Export xsd

Author: facontidavide

include/behaviortree_cpp/tree_node.h

@@ -399,7 +399,8 @@ inline Result TreeNode::getInput(const std::string& key, T& destination) const
   auto remap_it = config().input_ports.find(key);
   if (remap_it == config().input_ports.end())
   {
-    return nonstd::make_unexpected(StrCat("getInput() failed because "
+    return nonstd::make_unexpected(StrCat("getInput() of node `", fullPath(),
+                                          "` failed because "
                                           "NodeConfig::input_ports "
                                           "does not contain the key: [",
                                           key, "]"));

include/behaviortree_cpp/xml_parsing.h

@@ -60,6 +60,16 @@ void VerifyXML(const std::string& xml_text,
 std::string writeTreeNodesModelXML(const BehaviorTreeFactory& factory,
                                    bool include_builtin = false);
 
+/**
+ * @brief writeTreeXSD generates an XSD for the nodes defined in the factory
+ *
+ * @param factory          the factory with the registered types
+ *
+ * @return  string containing the XML.
+ */
+[[nodiscard]]
+std::string writeTreeXSD(const BehaviorTreeFactory& factory);
+
 /**
  * @brief WriteTreeToXML create a string that contains the XML that corresponds to a given tree.
  * When using this function with a logger, you should probably set both add_metadata and