update documentation (issue #148)

Author: facontidavide

docs/tutorial_05_subtrees.md

@@ -96,6 +96,11 @@ int main()
     // This logger stores the execution time of each node
     MinitraceLogger logger_minitrace(tree.root_node, "bt_trace.json");
 
+#ifdef ZMQ_INSTALLED
+    // This logger publish status changes using ZeroMQ. Used by Groot
+    PublisherZMQ publisher_zmq(tree);
+#endif
+
     printTreeRecursively(tree.root_node);
 
     //while (1)

examples/t05_crossdoor.cpp

@@ -3,10 +3,9 @@
 #include "behaviortree_cpp_v3/loggers/bt_cout_logger.h"
 #include "behaviortree_cpp_v3/loggers/bt_minitrace_logger.h"
 #include "behaviortree_cpp_v3/loggers/bt_file_logger.h"
-
 #include "behaviortree_cpp_v3/bt_factory.h"
 
-#ifdef ZMQ_FOUND
+#ifdef ZMQ_INSTALLED
 #include "behaviortree_cpp_v3/loggers/bt_zmq_publisher.h"
 #endif
 
@@ -68,11 +67,17 @@ int main(int argc, char** argv)
     // Important: when the object tree goes out of scope, all the TreeNodes are destroyed
     auto tree = factory.createTreeFromText(xml_text);
 
-    // Create some loggers
+    // This logger prints state changes on console
     StdCoutLogger logger_cout(tree);
-    MinitraceLogger logger_minitrace(tree, "bt_trace.json");
+
+    // This logger saves state changes on file
     FileLogger logger_file(tree, "bt_trace.fbl");
+
+    // This logger stores the execution time of each node
+    MinitraceLogger logger_minitrace(tree, "bt_trace.json");
+
 #ifdef ZMQ_FOUND
+    // This logger publish status changes using ZeroMQ. Used by Groot
     PublisherZMQ publisher_zmq(tree);
 #endif