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‎docs/learn-the-basics/xml_format.md‎

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@@ -5,7 +5,7 @@ In the [first tutorial](tutorial-basics/tutorial_01_first_tree.md) this simple t
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was presented.
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SaySomething name="action_hello" message="Hello"/>
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- The tag `<BehaviorTree>` should have the attribute `[ID]`.
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- The tag `<root>` should contain the attribute `[main_tree_to_execute]`.
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- The attribute `[main_tree_to_execute]` is mandatory if the file contains multiple `<BehaviorTree>`,
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optional otherwise.
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- The tag `<root>` should contain the attribute `[BTCPP_format]`.
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- Each TreeNode is represented by a single tag. In particular:
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the blackboard called "my_message";
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SaySomething message="Hello"/>
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The first example represented with the explicit syntax would become:
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<Action ID="SaySomething" name="action_hello" message="Hello"/>
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SaySomething name="action_hello" message="Hello"/>
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(being optional, attributes [name] are omitted for simplicity).
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``` XML
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence>
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``` XML hl_lines="5"
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<!-- file maintree.xml -->
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<include path="grasp.xml"/>
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``` XML
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<!-- file grasp.xml -->
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<root main_tree_to_execute = "GraspObject" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="GraspObject">
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<Sequence>
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<Action ID="OpenGripper"/>

‎docs/tutorial-basics/tutorial_01_first_tree.md‎

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@@ -111,7 +111,7 @@ Let's consider the following XML file named __my_tree.xml__:
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``` xml
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<CheckBattery name="check_battery"/>

‎docs/tutorial-basics/tutorial_02_basic_ports.md‎

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- Action 3 read the input `message` from an entry in the blackboard called `the_answer`.
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``` xml
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root_sequence">
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<SaySomething message="hello" />

‎docs/tutorial-basics/tutorial_03_generic_ports.md‎

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``` cpp
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static const char* xml_text = R"(
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<root main_tree_to_execute = "MainTree" >
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<root BTCPP_format="4" >
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<BehaviorTree ID="MainTree">
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<Sequence name="root">
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<CalculateGoal goal="{GoalPosition}" />

‎docs/tutorial-basics/tutorial_04_sequence.md‎

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The following example should use a simple `SequenceNode`.
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``` xml hl_lines="3"
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<root>
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<root BTCPP_format="4">
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<BehaviorTree>
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<Sequence>
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<BatteryOK/>

‎docs/tutorial-basics/tutorial_05_subtrees.md‎

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![crossdoor_subtree.svg](images/crossdoor_subtree.svg)
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``` xml
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<root main_tree_to_execute = "MainTree">
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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CrossDoor cross_door;
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cross_door.registerNodes(factory);
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// the XML is the one shown at the beginning of the tutorial
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auto tree = factory.createTreeFromText(xml_text);
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// In this example a single XML contains multiple <BehaviorTree>
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// To determine which one is the "main one", we should first register
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// the XML and then allocate a specific tree, using its ID
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factory.registerBehaviorTreeFromText(xml_text);
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auto tree = factory.createTree("MainTree");
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// helper function to print the tree
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printTreeRecursively(tree.rootNode());

‎docs/tutorial-basics/tutorial_06_subtree_ports.md‎

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![port_remapping.svg](images/port_remapping.svg)
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``` xml
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<root main_tree_to_execute = "MainTree">
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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factory.registerNodeType<SaySomething>("SaySomething");
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factory.registerNodeType<MoveBaseAction>("MoveBase");
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auto tree = factory.createTreeFromText(xml_text);
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factory.registerBehaviorTreeFromText(xml_text);
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auto tree = factory.createTree("MainTree");
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// Keep ticking until the end
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tree.tickWhileRunning();

‎docs/tutorial-basics/tutorial_07_multiple_xml.md‎

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@@ -108,7 +108,7 @@ to include into the XML itself, you can modify **main_tree.xml** as shown below:
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``` xml
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<root main_tree_to_execute = "MainTree">
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<root BTCPP_format="4">
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// highlight-start
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<include path="./subtree_A.xml" />
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<include path="./subtree_B.xml" />

‎docusaurus.config.js‎

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lastVersion: 'current',
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versions: {
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current: {
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label: '4.0',
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label: '4.0.1',
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},
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3.8: {
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label: '3.8',

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