subtree sequence

[liuxin00738]

Hi Davide,

I find a new issue of the groot. If I have more than one sub-tree for a sequence, the groot seems to put the subtree in the wrong order.

[facontidavide]

Thanks for reporting. I will add the unit test and fix the issue tomorrow

[facontidavide]

I can't see what is wrong based on your description. Can you share an XML file to reproduce this?

The attached file seems to work just fine.

show_all_sub.zip

[liuxin00738]

tree.tar.gz

Hi Davide,

Please see the attached xml and groot picture. Please notice that both the subtree and the sequence node are in wrong order. It seems to be related to the name or string I give them. And if I change the name sometimes the order is correct. But the one I send is wrong all the time for my machine.

[facontidavide]

Ok, I see. the error can be reproduced easily with the simplified tree

    <BehaviorTree ID="PickingItem">
            <Action ID = "AdjustTCPOrientation"/>
    </BehaviorTree>
    <BehaviorTree ID="MoveToPredefinedPoint">
            <Action ID = "LinearMove"/>
    </BehaviorTree>

    <BehaviorTree ID="MainTree">
        <Sequence name="move from bin A to bin B">
            <SubTree ID = "MoveToPredefinedPoint"/>
            <SubTree ID = "PickingItem"/>
        </Sequence>
    </BehaviorTree>
</root>

I will fix it today.
By the way, you also gave me an idea for an improvement in the visualization ;)

[facontidavide]

Ok, I found the bug (it was a nasty one) and I have also made some additional changes.

Test the dev branch if you can.

I also changed the way nodes with names are displayed:

[facontidavide]

By the way, I also noticed thanks to your screenshot a small error in the auto-arrange function. I correct it.
See the before and after pictures