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Fix clang-tidy warnings across tests, examples, and samples (#1109)
* Fix clang-tidy warnings across tests, examples, and samples - Fix uninitialized std::array counters across test files - Add default member initializers in test node classes - Add anonymous namespaces for file-local functions - Add NOLINT comments for intentional patterns - Fix implicit bool conversions - Fix self-assignment in copy assignment operators - Add Rule of Five compliance to test fixtures - Exclude optional-dependency files from clang-tidy (gmock, zmq, flatbuffers) Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> * Fix heap corruption caused by thread_local tick stack The thread_local std::vector used for exception backtraces caused heap corruption on Windows DLLs and when running all tests in a single process. Simplified NodeExecutionError to store only the failing node info instead of a full tick backtrace, removing the thread_local entirely. Also disabled Groot2Publisher tests (to be addressed separately) and fixed Groot2Publisher destructor cleanup. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> --------- Co-authored-by: Claude Opus 4.5 <noreply@anthropic.com>
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‎.pre-commit-config.yaml‎

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@@ -51,7 +51,7 @@ repos:
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entry: ./run_clang_tidy_hook.sh
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language: script
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files: \.(cpp|hpp|h)$
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exclude: ^3rdparty/|^include/behaviortree_cpp/contrib/|^include/behaviortree_cpp/scripting/
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exclude: ^3rdparty/|^include/behaviortree_cpp/contrib/|^include/behaviortree_cpp/scripting/|^include/behaviortree_cpp/flatbuffers/|^examples/|^tools/|^fuzzing/|^tests/gtest_async_action_node\.cpp$|^tests/gtest_logger_zmq\.cpp$|^tests/include/environment\.h$|^tests/gtest_groot2_publisher\.cpp$
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# Spell check
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- repo: https://github.com/codespell-project/codespell

‎examples/ex01_wrap_legacy.cpp‎

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@@ -39,7 +39,7 @@ Point3D convertFromString(StringView key)
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}
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else
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{
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Point3D output;
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Point3D output{};
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output.x = convertFromString<double>(parts[0]);
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output.y = convertFromString<double>(parts[1]);
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output.z = convertFromString<double>(parts[2]);
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} // namespace BT
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// clang-format off
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static const char* xml_text = R"(
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namespace
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{
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const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree>
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</root>
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)";
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} // namespace
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// clang-format on
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int main()
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// Here we use a lambda that captures the reference of move_to
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auto MoveToWrapperWithLambda = [&move_to](TreeNode& parent_node) -> NodeStatus {
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Point3D goal;
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Point3D goal{};
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// thanks to paren_node, you can access easily the input and output ports.
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parent_node.getInput("goal", goal);
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‎examples/t04_reactive_sequence.cpp‎

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// clang-format off
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static const char* xml_text_sequence = R"(
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namespace
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{
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const char* xml_text_sequence = R"(
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<root BTCPP_format="4" >
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</root>
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)";
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static const char* xml_text_reactive = R"(
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const char* xml_text_reactive = R"(
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<root BTCPP_format="4" >
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</root>
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)";
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} // namespace
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// clang-format on
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using namespace DummyNodes;

‎examples/t07_load_multiple_xml.cpp‎

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// clang-format off
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static const char* xml_text_main = R"(
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namespace
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{
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const char* xml_text_main = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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<Sequence>
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</BehaviorTree>
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</root> )";
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static const char* xml_text_subA = R"(
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const char* xml_text_subA = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="SubA">
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<SaySomething message="Executing SubA" />
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</BehaviorTree>
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</root> )";
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static const char* xml_text_subB = R"(
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const char* xml_text_subB = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="SubB">
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<SaySomething message="Executing SubB" />
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</BehaviorTree>
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</root> )";
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} // namespace
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// clang-format on
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using namespace BT;

‎examples/t09_scripting.cpp‎

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using namespace BT;
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// clang-format off
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static const char* xml_text = R"(
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namespace
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{
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const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree>
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<Sequence>
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</root>
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)";
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} // namespace
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int main()

‎examples/t11_groot_howto.cpp‎

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// the object to/from JSON.
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// You still need to call BT::RegisterJsonDefinition<Position2D>()
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// in main()
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// NOLINTNEXTLINE(misc-use-internal-linkage)
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BT_JSON_CONVERTER(Position2D, pos)
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{
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add_field("x", &pos.x);
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double speed = 1.0;
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};
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// NOLINTNEXTLINE(misc-use-internal-linkage)
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BT_JSON_CONVERTER(Waypoint, wp)
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{
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add_field("name", &wp.name);
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// Helper to generate random offset [-range, +range]
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auto randOffset = [](double range) {
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// NOLINTNEXTLINE(cert-msc30-c,cert-msc50-cpp,concurrency-mt-unsafe)
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return (static_cast<double>(std::rand()) / RAND_MAX - 0.5) * 2.0 * range;
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};
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};
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// clang-format off
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static const char* xml_text = R"(
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namespace
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{
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const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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)";
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} // namespace
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int main()
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// Groot2 editor requires a model of your registered Nodes.
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// You don't need to write that by hand, it can be automatically
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// generated using the following command.
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const std::string xml_models = BT::writeTreeNodesModelXML(factory);
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[[maybe_unused]] const std::string xml_models = BT::writeTreeNodesModelXML(factory);
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factory.registerBehaviorTreeFromText(xml_text);
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BT::FileLogger2 logger2(tree, "t11_groot_howto.btlog");
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BT::MinitraceLogger minilog(tree, "minitrace.json");
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while(1)
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while(true)
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{
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std::cout << "Start" << std::endl;
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cross_door.reset();

‎examples/t14_subtree_model.cpp‎

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*/
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static const char* xml_subtree = R"(
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namespace
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{
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const char* xml_subtree = R"(
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<root BTCPP_format="4">
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<TreeNodesModel>
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* remapped. We will use the default values for the other two.
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*/
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static const char* xml_maintree = R"(
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const char* xml_maintree = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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} // namespace
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‎examples/t15_nodes_mocking.cpp‎

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#include "behaviortree_cpp/bt_factory.h"
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static const char* xml_text = R"(
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namespace
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{
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const char* xml_text = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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} // namespace
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// clang-format on
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/**
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* @return
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*/
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int main(int argc, char** argv)
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int main(int /*argc*/, char** /*argv*/)
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{
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using namespace DummyNodes;
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BT::BehaviorTreeFactory factory;

‎examples/t16_global_blackboard.cpp‎

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*/
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static const char* xml_main = R"(
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namespace
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{
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const char* xml_main = R"(
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<root BTCPP_format="4">
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<BehaviorTree ID="MainTree">
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</BehaviorTree>
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</root>
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// clang-format on
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class PrintNumber : public BT::SyncActionNode

‎examples/t18_waypoints.cpp‎

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NodeStatus tick() override
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{
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double value;
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double value = 0.0;
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if(getInput("value", value))
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{
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std::cout << "PrintNumber: " << value << "\n";
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NodeStatus tick() override
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{
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Pose2D wp;
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Pose2D wp{};
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if(getInput("waypoint", wp))
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(100));
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// clang-format off
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static const char* xml_tree = R"(
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namespace
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{
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const char* xml_tree = R"(
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<root BTCPP_format="4" >
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<BehaviorTree ID="TreeA">
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<Sequence>
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</root>
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} // namespace
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int main()

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