From 0e1c2c64e498d41ecfe2c13f27cd6244205d02a9 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Tue, 18 Apr 2023 19:59:35 -0400
Subject: [PATCH] Update to BehaviorTree.CPP 4.1.1

---
 .../objectives/3_waypoint_pick_and_place.xml                  | 2 +-
 src/picknik_ur_base_config/objectives/clear_snapshot.xml      | 2 +-
 src/picknik_ur_base_config/objectives/close_gripper.xml       | 2 +-
 src/picknik_ur_base_config/objectives/move_to_joint_state.xml | 2 +-
 src/picknik_ur_base_config/objectives/move_to_known_pose.xml  | 4 ++--
 src/picknik_ur_base_config/objectives/move_to_named_pose.xml  | 2 +-
 src/picknik_ur_base_config/objectives/open_gripper.xml        | 2 +-
 src/picknik_ur_base_config/objectives/teleoperate.xml         | 2 +-
 src/picknik_ur_base_config/objectives/tree_nodes_model.xml    | 4 ++--
 src/picknik_ur_site_config/objectives/say_hello.xml           | 2 +-
 src/picknik_ur_site_config/objectives/wave_hello.xml          | 2 +-
 11 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml b/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
index 6c66c28d..47ddd9d4 100644
--- a/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
+++ b/src/picknik_ur_base_config/objectives/3_waypoint_pick_and_place.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="3 Waypoints Pick and Place">
+<root BTCPP_format="4" main_tree_to_execute="3 Waypoints Pick and Place">
     <!-- ////////// -->
     <BehaviorTree ID="3 Waypoints Pick and Place" _description="Repeatedly grab a small object, place it at desired destination, and then navigate to specified waypoint until failure">
         <Control ID="Sequence">
diff --git a/src/picknik_ur_base_config/objectives/clear_snapshot.xml b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
index f6c08d32..2550ff7d 100644
--- a/src/picknik_ur_base_config/objectives/clear_snapshot.xml
+++ b/src/picknik_ur_base_config/objectives/clear_snapshot.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Clear Snapshot">
+  <root BTCPP_format="4" main_tree_to_execute="Clear Snapshot">
     <!-- ////////// -->
     <BehaviorTree ID="Clear Snapshot" _description="Clear the point cloud snapshot">
         <Action ID="ClearSnapshot" />
diff --git a/src/picknik_ur_base_config/objectives/close_gripper.xml b/src/picknik_ur_base_config/objectives/close_gripper.xml
index 7709c504..544bc81b 100644
--- a/src/picknik_ur_base_config/objectives/close_gripper.xml
+++ b/src/picknik_ur_base_config/objectives/close_gripper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Close Gripper">
+<root BTCPP_format="4" main_tree_to_execute="Close Gripper">
     <BehaviorTree ID="Close Gripper" _description="Close the gripper">
         <Sequence name="root">
             <Action ID="MoveGripperAction" gripper_command_action_name="/robotiq_gripper_controller/gripper_cmd" position="0.7929"/>
diff --git a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
index 276a1752..48d71543 100644
--- a/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_joint_state.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Joint State">
+<root BTCPP_format="4" main_tree_to_execute="Move to Joint State">
     <BehaviorTree ID="Move to Joint State" _description="Single-node behavior to move to a specified joint state">
         <Action ID="MoveToJointState" controller_names="/joint_trajectory_controller /robotiq_gripper_controller" planning_group_name="manipulator" waypoint_name="Home" />
     </BehaviorTree>
diff --git a/src/picknik_ur_base_config/objectives/move_to_known_pose.xml b/src/picknik_ur_base_config/objectives/move_to_known_pose.xml
index d9436d57..8c3b5108 100644
--- a/src/picknik_ur_base_config/objectives/move_to_known_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_known_pose.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Known Pose">
+<root BTCPP_format="4" main_tree_to_execute="Move to Known Pose">
     <BehaviorTree ID="Move to Known Pose" _description="Move to one of the known poses available in the Endpoint tab">
         <Sequence name="root">
-            <SubTreePlus ID="MoveToWaypoint" waypoint_name="{move_to_known_pose.target_state_name}"/>
+            <SubTree ID="MoveToWaypoint" waypoint_name="{move_to_known_pose.target_state_name}"/>
         </Sequence>
     </BehaviorTree>
     <BehaviorTree ID="MoveToWaypoint">
diff --git a/src/picknik_ur_base_config/objectives/move_to_named_pose.xml b/src/picknik_ur_base_config/objectives/move_to_named_pose.xml
index d8940a58..f439907d 100644
--- a/src/picknik_ur_base_config/objectives/move_to_named_pose.xml
+++ b/src/picknik_ur_base_config/objectives/move_to_named_pose.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Move to Named Pose">
+<root BTCPP_format="4" main_tree_to_execute="Move to Named Pose">
     <BehaviorTree ID="Move to Named Pose" _description="This Objective is used when moving to one of the saved waypoints in your site configuration">
         <Sequence name="root">
             <Action ID="RetrieveWaypoint" waypoint_joint_state="{target_joint_state}" waypoint_name="Home"/>
diff --git a/src/picknik_ur_base_config/objectives/open_gripper.xml b/src/picknik_ur_base_config/objectives/open_gripper.xml
index 3e996ce9..177424c2 100644
--- a/src/picknik_ur_base_config/objectives/open_gripper.xml
+++ b/src/picknik_ur_base_config/objectives/open_gripper.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Open Gripper">
+<root BTCPP_format="4" main_tree_to_execute="Open Gripper">
     <!-- ////////// -->
     <BehaviorTree ID="Open Gripper" _description="Open the gripper">
         <Sequence name="root">
diff --git a/src/picknik_ur_base_config/objectives/teleoperate.xml b/src/picknik_ur_base_config/objectives/teleoperate.xml
index cc40de27..6afa23bc 100644
--- a/src/picknik_ur_base_config/objectives/teleoperate.xml
+++ b/src/picknik_ur_base_config/objectives/teleoperate.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root main_tree_to_execute="Teleoperate">
+<root BTCPP_format="4" main_tree_to_execute="Teleoperate">
     <BehaviorTree ID="Teleoperate" _description="Teleoperate the robot from the Web UI">
         <Sequence name="root">
             <Action ID="Teleoperate" controller_name="streaming_controller"/>
diff --git a/src/picknik_ur_base_config/objectives/tree_nodes_model.xml b/src/picknik_ur_base_config/objectives/tree_nodes_model.xml
index eacfaf4e..bcb5f73c 100644
--- a/src/picknik_ur_base_config/objectives/tree_nodes_model.xml
+++ b/src/picknik_ur_base_config/objectives/tree_nodes_model.xml
@@ -310,9 +310,9 @@
             </description>
             <input_port name="solution" default="{mtc_solution}">MoveIt Task Constructor plan solution.</input_port>
         </Action>
-        <SubTreePlus ID="MoveToWaypoint">
+        <SubTree ID="MoveToWaypoint">
             <description/>
             <input_port name="waypoint_name" default="Forward Down">Name of the waypoint to move to.</input_port>
-        </SubTreePlus>
+        </SubTree>
     </TreeNodesModel>
 </root>
diff --git a/src/picknik_ur_site_config/objectives/say_hello.xml b/src/picknik_ur_site_config/objectives/say_hello.xml
index 99882950..f7eac531 100644
--- a/src/picknik_ur_site_config/objectives/say_hello.xml
+++ b/src/picknik_ur_site_config/objectives/say_hello.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Say Hello">
+  <root BTCPP_format="4" main_tree_to_execute="Say Hello">
     <BehaviorTree ID="Say Hello" _description="Will always succeed and log the error message Hello Woold!">
         <Sequence>
             <Action ID="HelloWorld"/>
diff --git a/src/picknik_ur_site_config/objectives/wave_hello.xml b/src/picknik_ur_site_config/objectives/wave_hello.xml
index f542dbed..86665970 100644
--- a/src/picknik_ur_site_config/objectives/wave_hello.xml
+++ b/src/picknik_ur_site_config/objectives/wave_hello.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-  <root main_tree_to_execute="Wave Hello">
+  <root BTCPP_format="4" main_tree_to_execute="Wave Hello">
     <BehaviorTree ID="Wave Hello" _description="Waves the end-effector side to side from the Home waypoint">
         <Sequence>
             <Action ID="RetrieveWaypoint" waypoint_name="Home" waypoint_joint_state="{target_joint_state}"/>