From df09b202078af6aa7b776b827f5dc7bb8d933aa3 Mon Sep 17 00:00:00 2001
From: Renan Salles <renan028@gmail.com>
Date: Fri, 21 Jul 2023 12:47:45 +0900
Subject: [PATCH] make it btv4 compatible

---
 CMakeLists.txt                             |  4 ++--
 include/behaviortree_ros/bt_action_node.h  |  7 +++----
 include/behaviortree_ros/bt_service_node.h |  4 ++--
 package.xml                                | 22 ++++++++--------------
 test/test_bt.cpp                           |  8 ++++----
 5 files changed, 19 insertions(+), 26 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9805048..0b7eb67 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 3.5.1) # version on Ubuntu Trusty
 project(behaviortree_ros)
 
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
@@ -9,7 +9,7 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 
 set(ROS_DEPENDENCIES
     roscpp std_msgs
-    behaviortree_cpp_v3
+    behaviortree_cpp
     actionlib_msgs
     actionlib
     message_generation)
diff --git a/include/behaviortree_ros/bt_action_node.h b/include/behaviortree_ros/bt_action_node.h
index a8c21bb..abeee22 100644
--- a/include/behaviortree_ros/bt_action_node.h
+++ b/include/behaviortree_ros/bt_action_node.h
@@ -16,10 +16,10 @@
 #ifndef BEHAVIOR_TREE_BT_ACTION_NODE_HPP_
 #define BEHAVIOR_TREE_BT_ACTION_NODE_HPP_
 
-#include <behaviortree_cpp_v3/action_node.h>
-#include <behaviortree_cpp_v3/bt_factory.h>
-#include <ros/ros.h>
 #include <actionlib/client/simple_action_client.h>
+#include <behaviortree_cpp/action_node.h>
+#include <behaviortree_cpp/bt_factory.h>
+#include <ros/ros.h>
 
 namespace BT
 {
@@ -100,7 +100,6 @@ class RosActionNode : public BT::ActionNodeBase
     {
       action_client_->cancelGoal();
     }
-    setStatus(NodeStatus::IDLE);
   }
 
 protected:
diff --git a/include/behaviortree_ros/bt_service_node.h b/include/behaviortree_ros/bt_service_node.h
index a60eff6..e3120f2 100644
--- a/include/behaviortree_ros/bt_service_node.h
+++ b/include/behaviortree_ros/bt_service_node.h
@@ -16,8 +16,8 @@
 #ifndef BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_
 #define BEHAVIOR_TREE_BT_SERVICE_NODE_HPP_
 
-#include <behaviortree_cpp_v3/action_node.h>
-#include <behaviortree_cpp_v3/bt_factory.h>
+#include <behaviortree_cpp/action_node.h>
+#include <behaviortree_cpp/bt_factory.h>
 #include <ros/ros.h>
 #include <ros/service_client.h>
 
diff --git a/package.xml b/package.xml
index e97b070..31aa6bf 100644
--- a/package.xml
+++ b/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>behaviortree_ros</name>
   <version>0.0.1</version>
   <description>
@@ -11,20 +11,14 @@
 
   <author>Davide Faconti</author>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>behaviortree_cpp_v3</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>behaviortree_cpp</depend>
+  <depend>actionlib</depend>
+  <depend>actionlib_msgs</depend>
   
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>behaviortree_cpp_v3</run_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-
-  <build_depend>message_generation</build_depend>
-  <run_depend>message_generation</run_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <depend>message_generation</depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 
diff --git a/test/test_bt.cpp b/test/test_bt.cpp
index 7b5070d..a97f3cd 100644
--- a/test/test_bt.cpp
+++ b/test/test_bt.cpp
@@ -157,9 +157,9 @@ RosActionNode<behaviortree_ros::FibonacciAction>(handle, name, conf) {}
 //-----------------------------------------------------
 
   // Simple tree, used to execute once each action.
-  static const char* xml_text = R"(
- <root >
-     <BehaviorTree>
+static const char* xml_text = R"(
+<root BTCPP_format="4" >
+     <BehaviorTree ID="MainTree">
         <Sequence>
             <AddTwoInts service_name = "add_two_ints"
                         first_int = "3" second_int = "4"
@@ -196,7 +196,7 @@ int main(int argc, char **argv)
   while( ros::ok() && (status == NodeStatus::IDLE || status == NodeStatus::RUNNING))
   {
     ros::spinOnce();
-    status = tree.tickRoot();
+    status = tree.tickExactlyOnce();
     std::cout << status << std::endl;
     ros::Duration sleep_time(0.01);
     sleep_time.sleep();