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lalten
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Fix some behaviortree_cpp issues (bazelbuild#6151)
To be able to compile behaviortree_cpp we need to * Update ncurses to bazelbuild#6149 * Update zmq to bazelbuild#6150 * Patch BehaviorTree/BehaviorTree.CPP#1020
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‎modules/behaviortree_cpp/4.7.0.bcr.1/MODULE.bazel‎

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module(
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name = "behaviortree_cpp",
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version = "4.7.0.bcr.1",
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bazel_compatibility = [">=7.2.1"],
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)
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# NOTE: This is the newest version of cpp-sqlite that we are compatible with.
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bazel_dep(name = "cpp-sqlite", version = "0.0.0-20230222-7f931c4")
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bazel_dep(name = "cppzmq", version = "4.10.0.bcr.1")
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bazel_dep(name = "flatbuffers", version = "25.2.10")
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bazel_dep(name = "googletest", version = "1.17.0")
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bazel_dep(name = "lexy", version = "2025.05.0")
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bazel_dep(name = "libzmq", version = "4.3.5.bcr.4")
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bazel_dep(name = "minicoro", version = "0.1.2")
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bazel_dep(name = "minitrace", version = "0.0.0-20241021-242da50")
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bazel_dep(name = "ncurses", version = "6.4.20221231.bcr.10")
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bazel_dep(name = "platforms", version = "1.0.0")
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bazel_dep(name = "rules_cc", version = "0.2.4")
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bazel_dep(name = "rules_license", version = "1.0.0")
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bazel_dep(name = "tinyxml2", version = "10.0.0")

‎modules/behaviortree_cpp/4.7.0.bcr.1/overlay/BUILD.bazel‎

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load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
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load("@rules_license//rules:license.bzl", "license")
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license(
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name = "license",
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license_kinds = ["@rules_license//licenses/spdx:MIT"],
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license_text = "LICENSE",
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)
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UNIX_SRCS = [
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"src/shared_library_UNIX.cpp",
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]
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WINDOWS_SRCS = [
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"src/shared_library_WIN.cpp",
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]
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cc_library(
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name = "behaviortree_cpp",
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srcs = glob(
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[
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"src/**/*.cpp",
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"src/**/*.hpp",
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],
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exclude = ["src/example.cpp"] + WINDOWS_SRCS + UNIX_SRCS,
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) +
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select({
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"@platforms//os:windows": WINDOWS_SRCS,
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"//conditions:default": UNIX_SRCS,
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}),
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hdrs = glob([
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"include/**/*.h",
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"include/**/*.hpp",
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]),
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# IMPORTANT: module_version() MUST be in the form of X.Y.Z
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defines = ['BTCPP_LIBRARY_VERSION=\\"' + module_version() + '\\"'],
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includes = ["include"],
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visibility = ["//visibility:public"],
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deps = [
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":wildcards",
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"@cpp-sqlite",
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"@cppzmq",
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"@flatbuffers",
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"@lexy",
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"@libzmq",
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"@minicoro",
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"@minitrace",
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"@ncurses",
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"@tinyxml2",
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],
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)
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TESTS_THAT_FAIL_ON_MACOS = [
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# These tests are broken on x86 macOS Bazel 8
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"tests/gtest_postconditions.cpp",
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"tests/gtest_parallel.cpp",
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]
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cc_test(
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name = "behaviortree_cpp_test",
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size = "small",
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srcs = glob(
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[
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"tests/**/*.cpp",
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"tests/**/*.h",
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"tests/**/*.hpp",
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"sample_nodes/*.cpp",
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"sample_nodes/*.h",
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],
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exclude = [
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# These tests are broken and are not included in the cmake build.
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"tests/gtest_async_action_node.cpp",
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"tests/gtest_logger_zmq.cpp",
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"tests/navigation_test.cpp",
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] + TESTS_THAT_FAIL_ON_MACOS,
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) + select({
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"@platforms//os:macos": [],
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"//conditions:default": TESTS_THAT_FAIL_ON_MACOS,
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}),
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data = glob(["tests/trees/**/*.xml"]),
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includes = [
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"tests",
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"tests/include",
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],
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# NOTE: It's not currently possible to get the path to a directory here. If bazel supported
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# getting the path to a directory, then we could get the path to the tests directory and pass it
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# directly as BT_TEST_FOLDER. Instead we get the path to one of the xml files, and then patch
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# the logic in tests/gtest_factory.cpp as a work-around.
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# See: https://github.com/bazelbuild/bazel/issues/23139
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local_defines = [
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"BT_TEST_PARENT_INCLUDE_CHILD_XML_FILE=" +
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"\\\"../$(rlocationpath tests/trees/parent_include_child.xml)\\\"",
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],
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deps = [
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":behaviortree_cpp",
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"@googletest//:gtest",
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],
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)
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# Use the vendored version of wildcards because it has an important bug fix.
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# See: https://github.com/zemasoft/wildcards/issues/28
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# Be aware that this might cause issues if you depend on both behaviortree_cpp and a different
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# version of wildcards.
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cc_library(
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name = "wildcards",
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hdrs = ["3rdparty/wildcards/wildcards.hpp"],
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includes = ["3rdparty"],
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)

‎modules/behaviortree_cpp/4.7.0.bcr.1/overlay/MODULE.bazel‎

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../MODULE.bazel

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/bt_test_folder_bazel.patch‎

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diff --git a/tests/gtest_factory.cpp b/tests/gtest_factory.cpp
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index 321d24e..af97613 100644
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--- a/tests/gtest_factory.cpp
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+++ b/tests/gtest_factory.cpp
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@@ -268,6 +268,14 @@ TEST(BehaviorTreeFactory, SubTreeWithRemapping)
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std::string FilePath(const std::filesystem::path& relative_path)
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{
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+ // NOTE: Bazel doesn't support getting the execpath of a directory, so use a file instead.
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+ // BT_TEST_PARENT_INCLUDE_CHILD_XML_FILE is expected to be the bazel runtime path to:
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+ // tests/trees/parent_include_child.xml
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+ const std::filesystem::path BT_TEST_FOLDER =
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+ std::filesystem::path{ BT_TEST_PARENT_INCLUDE_CHILD_XML_FILE }
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+ .parent_path()
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+ .parent_path();
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+
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// clang-format off
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static const std::filesystem::path search_paths[] = {
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BT_TEST_FOLDER,

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/cpp-sqlite_bazel_compat.patch‎

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diff --git a/src/loggers/bt_sqlite_logger.cpp b/src/loggers/bt_sqlite_logger.cpp
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index 7dd736b..59a960d 100644
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--- a/src/loggers/bt_sqlite_logger.cpp
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+++ b/src/loggers/bt_sqlite_logger.cpp
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#include "behaviortree_cpp/loggers/bt_sqlite_logger.h"
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#include "behaviortree_cpp/xml_parsing.h"
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-#include "cpp-sqlite/sqlite.hpp"
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+#include "sqlite.hpp"
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namespace BT
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{

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/cppzmq_bazel_compat.patch‎

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diff --git a/src/loggers/groot2_publisher.cpp b/src/loggers/groot2_publisher.cpp
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index 6146507..83bbe74 100644
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--- a/src/loggers/groot2_publisher.cpp
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+++ b/src/loggers/groot2_publisher.cpp
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#include "behaviortree_cpp/loggers/groot2_publisher.h"
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#include "behaviortree_cpp/loggers/groot2_protocol.h"
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#include "behaviortree_cpp/xml_parsing.h"
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-#include "cppzmq/zmq.hpp"
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-#include "cppzmq/zmq_addon.hpp"
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+#include <zmq.hpp>
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+#include <zmq_addon.hpp>
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namespace BT
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{
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diff --git a/tools/bt_recorder.cpp b/tools/bt_recorder.cpp
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index c652f9a..a1266de 100644
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--- a/tools/bt_recorder.cpp
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+++ b/tools/bt_recorder.cpp
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#include <fstream>
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#include <signal.h>
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#include <fstream>
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-#include "cppzmq/zmq.hpp"
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+#include <zmq.hpp>
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#include "behaviortree_cpp/flatbuffers/BT_logger_generated.h"
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// http://zguide.zeromq.org/cpp:interrupt

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/curses_include.patch‎

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diff --git a/src/controls/manual_node.cpp b/src/controls/manual_node.cpp
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index 18af989..82e7e44 100644
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--- a/src/controls/manual_node.cpp
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+++ b/src/controls/manual_node.cpp
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@@ -13,7 +13,7 @@
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#include "behaviortree_cpp/controls/manual_node.h"
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#include "behaviortree_cpp/action_node.h"
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-#include <ncurses.h>
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+#include <curses.h>
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namespace BT
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{

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/minicoro_bazel_compat.patch‎

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diff --git a/src/action_node.cpp b/src/action_node.cpp
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index 61dff35..2bf78f9 100644
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--- a/src/action_node.cpp
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+++ b/src/action_node.cpp
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*/
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#define MINICORO_IMPL
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-#include "minicoro/minicoro.h"
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+#include "minicoro.h"
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#include "behaviortree_cpp/action_node.h"
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using namespace BT;

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/minitrace_bazel_compat.patch‎

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diff --git a/src/loggers/bt_minitrace_logger.cpp b/src/loggers/bt_minitrace_logger.cpp
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index 69d6d0b..478e227 100644
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--- a/src/loggers/bt_minitrace_logger.cpp
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+++ b/src/loggers/bt_minitrace_logger.cpp
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#include "behaviortree_cpp/loggers/bt_minitrace_logger.h"
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-#define MTR_ENABLED true
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-#include "minitrace/minitrace.h"
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+#include "minitrace.h"
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namespace BT
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{

‎modules/behaviortree_cpp/4.7.0.bcr.1/patches/tinyxml2_bazel_compat.patch‎

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diff --git a/src/xml_parsing.cpp b/src/xml_parsing.cpp
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index 8b9ce95..2542260 100644
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--- a/src/xml_parsing.cpp
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+++ b/src/xml_parsing.cpp
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@@ -33,7 +33,7 @@
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#include <map>
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#include "behaviortree_cpp/xml_parsing.h"
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-#include "tinyxml2/tinyxml2.h"
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+#include "tinyxml2.h"
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#include <filesystem>
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#ifdef USING_ROS2

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