Adapt to API changes in BehaviorTree

[galou]

The change was introduced in 474f33b and was mentioned in #169 and #171 .

[galou]

Any comment?

[enfuri51]

When change the code as you mentioned, the build will throw the error like this. Is the correction complete? @galou
error: invalid initialization of reference of type ‘const std::set<std::__cxx11::basic_string<char> >&’ from expression of type ‘std::unordered_map<std::__cxx11::basic_string<char>, BT::NodeType>’ 199 | BT::VerifyXML(xml_text, registered_nodes); // may throw

[galou]

My changes were compatible with BehaviorTree/BehaviorTree.CPP@b3171a5 but not with the latest master of BehaviorTree.CPP. I'll try to figure out again what is wrong.

[galou]

I wrote a fix that allows to compile again but Groot segfaults after click on "START" on the welcome dialog...

[galou]

I just realized that the fix actually reverts the fist commit I wrote. I must have used an outdated version of BehaviorTree.CPP.

[Affonso-Gui]

This fixed my build with BehaviorTree.CPP version 3.8! 👍

[facontidavide]

I will change the version of the BT.CPP library in the git submodule and merge this. Thanks

[tonynajjar]

Having the same issue after the galactic sync, these changes fixes the build of Groot

[galou]

My changes were compatible with BehaviorTree/BehaviorTree.CPP@b3171a5 but not with the latest master of BehaviorTree.CPP. I'll try to figure out again what is wrong.

[facontidavide]

Fixed ee66489

[tharaka27]

catkin_ws/src/Groot/bt_editor/XML_utilities.cpp: In function \u2018bool VerifyXML(QDomDocument&, const std::vector<QString>&, std::vector<QString>&)\u2019:
/home/ros/catkin_ws/src/Groot/bt_editor/XML_utilities.cpp:203:33: error: invalid initialization of reference of type \u2018const std::set<std::__cxx11::basic_string<char> >&\u2019 from expression of type \u2018std::unordered_map<std::__cxx11::basic_string<char>, BT::NodeType>\u2019
  203 |         BT::VerifyXML(xml_text, registered_nodes); // may throw
      |                                 ^~~~~~~~~~~~~~~~
In file included from /home/ros/catkin_ws/src/Groot/bt_editor/XML_utilities.cpp:6:
/catkin_ws/src/BehaviorTree.CPP/include/behaviortree_cpp_v3/xml_parsing.h:38:45: note: in passing argument 2 of \void BT::VerifyXML(const string&, const std::set<std::__cxx11::basic_string<char> >&)\u2019
   38 |                const std::set<std::string> &registered_nodes);
      |                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/behavior_tree_editor.dir/build.make:251: CMakeFiles/behavior_tree_editor.dir/bt_editor/XML_utilities.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:247: CMakeFiles/behavior_tree_editor.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Error still persists even after using submodule.
Any suggestions please ?

[facontidavide]

Look at your log 😉

/catkin_ws/src/BehaviorTree.CPP/include/behaviortree_cpp_v3/xml_parsing.h

You are still using catkin (discouraged) and the version of BehaviorTree used is the one in the folder /catkin_ws/src/BehaviorTree.CPP, not the submodule.

Compile with plain cmake, not catkin

[tharaka27]

Thanks a lot :) I didn't notice that I had another BehaviorTreeRepo

[tianyaohu]

Hey I tried to build with cmake --build -build as in README, the XML_utilities.cpp compilation error still exists

/home/user/ros2_ws/Groot/bt_editor/XML_utilities.cpp:203:33: error: invalid initialization of reference of type 'const std::set<std::__cxx11::basic_string<char> >&' from expression of type 'std::unordered_map<std::__cxx11::basic_string<char>, BT::NodeType>'
  203 |         BT::VerifyXML(xml_text, registered_nodes); // may throw
      |                                 ^~~~~~~~~~~~~~~~
In file included from /home/user/ros2_ws/Groot/bt_editor/XML_utilities.cpp:6:
/opt/ros/noetic/include/behaviortree_cpp_v3/xml_parsing.h:38:45: note: in passing argument 2 of 'void BT::VerifyXML(const string&, const std::set<std::__cxx11::basic_string<char> >&)'
   38 |                const std::set<std::string> &registered_nodes);
      |                ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~
make[2]: *** [CMakeFiles/behavior_tree_editor.dir/build.make:251: CMakeFiles/behavior_tree_editor.dir/bt_editor/XML_utilities.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:303: CMakeFiles/behavior_tree_editor.dir/all] Error 2
make: *** [Makefile:141: all] Error 2```