Merge branch 'BehaviorTree:humble' into 2024-07-11_b-adkins_doxygen_documentation

Author: b-adkins

behaviortree_ros2/src/bt_utils.cpp

@@ -29,14 +29,19 @@ btcpp_ros2_interfaces::msg::NodeStatus ConvertNodeStatus(BT::NodeStatus& status)
   {
     case BT::NodeStatus::RUNNING:
       action_status.status = btcpp_ros2_interfaces::msg::NodeStatus::RUNNING;
+      break;
     case BT::NodeStatus::SUCCESS:
       action_status.status = btcpp_ros2_interfaces::msg::NodeStatus::SUCCESS;
+      break;
     case BT::NodeStatus::FAILURE:
       action_status.status = btcpp_ros2_interfaces::msg::NodeStatus::FAILURE;
+      break;
     case BT::NodeStatus::IDLE:
       action_status.status = btcpp_ros2_interfaces::msg::NodeStatus::IDLE;
+      break;
     case BT::NodeStatus::SKIPPED:
       action_status.status = btcpp_ros2_interfaces::msg::NodeStatus::SKIPPED;
+      break;
   }
 
   return action_status;

behaviortree_ros2/src/tree_execution_server.cpp

@@ -11,7 +11,14 @@
 // COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
 // OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4244)
 #include <thread>
+#pragma warning(pop)
+#else
+#include <thread>
+#endif
 
 #include "behaviortree_ros2/tree_execution_server.hpp"
 #include "behaviortree_ros2/bt_utils.hpp"
@@ -235,7 +242,8 @@ void TreeExecutionServer::execute(
       const auto now = std::chrono::steady_clock::now();
       if(now < loop_deadline)
       {
-        p_->tree.sleep(loop_deadline - now);
+        p_->tree.sleep(std::chrono::duration_cast<std::chrono::system_clock::duration>(
+            loop_deadline - now));
       }
       loop_deadline += period;
     }

behaviortree_ros2/tree_execution_server.md

@@ -18,7 +18,7 @@ Furthermore, the user can customize it to:
 
 - Register custom BT Nodes directly (static linking).
 - Attach additional loggers. The **Groot2** publisher will be attached by default.
-- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t19_global_blackboard.cpp).
+- Use the "global blackboard", a new idiom/pattern explained in [this tutorial](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/examples/t16_global_blackboard.cpp).
 - Customize the feedback of the `rclcpp_action::Server`.
 
 ## Customization points

btcpp_ros2_interfaces/CMakeLists.txt

@@ -8,7 +8,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(btcpp_ros2_interfaces
-    "msgs/NodeStatus.msg"
+    "msg/NodeStatus.msg"
     "action/ExecuteTree.action"
     "action/Sleep.action")