Release Notes

Forthcoming

1.2.2 (2019-08-06)

  • [trees] standalone setup() method with timer for use on unmanaged trees, #198
  • [examples] fix api in skeleton_tree.py, #199

1.2.1 (2019-05-21)

  • [decorators] StatusToBlackboard reflects the status of it’s child to the blackboard, #195
  • [decorators] EternalGuard decorator that continuously guards a subtree (c.f. Unreal conditions), #195
  • [idioms] eternal_guard counterpart to the decorator whose conditions are behaviours, #195

1.2.x (2019-04-28)

Breaking API

  • [trees] removes the curious looking and unused destroy() method, #193
  • [display] ascii_tree -> ascii_tree/unicode_tree(), no longer subverts the choice depending on your stdout, #192
  • [display] dot_graph -> dot_tree for consistency with the text tree methods, #192

New Features

  • [behaviour] shutdown() method to compliment setup(), #193
  • [decorators] StatusToBlackboard reflects the status of it’s child to the blackboard, #195
  • [decorators] EternalGuard decorator that continuously guards a subtree (c.f. Unreal conditions), #195
  • [display] xhtml_tree provides an xhtml compatible equivalent to the ascii_tree representation, #192
  • [idioms] eternal_guard counterpart to the decorator whose conditions are behaviours, #195
  • [trees] walks the tree calling shutdown() on each node in it’s own shutdown() method, #193
  • [visitors] get a finalise() method called immediately prior to post tick handlers, #191

1.1.0 (2019-03-19)

Breaking API

  • [display] print_ascii_tree -> ascii_tree, #178.
  • [display] generate_pydot_graph -> dot_graph, #178.
  • [trees] tick_tock(sleep_ms, ..) -> tick_tock(period_ms, …), #182.

New Features

  • [trees] add missing add_visitor() method
  • [trees] flexible setup() for children via kwargs
  • [trees] convenience method for ascii tree debugging
  • [display] highlight the tip in ascii tree snapshots

Bugfixes

  • [trees] threaded timers for setup (avoids multiprocessing problems)
  • [behaviour|composites] bugfix tip behaviour, add tests
  • [display] correct first indent when non-zero in ascii_tree
  • [display] apply same formatting to root as children in ascii_tree

1.0.7 (2019-xx-yy)

  • [display] optional arguments for generate_pydot_graph

1.0.6 (2019-03-06)

  • [decorators] fix missing root feedback message in ascii graphs

1.0.5 (2019-02-28)

  • [decorators] fix timeout bug that doesn’t respect a child’s last tick

1.0.4 (2019-02-26)

  • [display] drop spline curves, it’s buggy with graphviz 2.38

1.0.3 (2019-02-13)

  • [visitors] winds of change visitor and logging demo

1.0.2 (2019-02-13)

  • [console] fallbacks for unicode chars when (UTF-8) encoding cannot support them

1.0.1 (2018-02-12)

  • [trees] don’t use multiprocess on setup if not using timeouts

1.0.0 (2019-01-18)

Breaking API

  • [behaviour] setup() no longer returns a boolean, catch exceptions instead, #143.
  • [behaviour] setup() no longer takes timeouts, responsibility moved to BehaviourTree, #148.
  • [decorators] new-style decorators found in py_trees.decorators
  • [decorators] new-style decorators stop their running child on completion (SUCCESS||FAILURE)
  • [decorators] old-style decorators in py_trees.meta deprecated

New Features

  • [blackboard] added a method for clearing the entire blackboard (useful for tests)
  • [composites] raise TypeError when children’s setup methods don’t return a bool (common mistake)
  • [composites] new parallel policies, SuccessOnAll, SuccessOnSelected
  • [decorators] oneshot policies for activating on completion or successful completion only
  • [meta] behaviours from functions can now automagically generate names

0.8.x (2018-10-18)

Breaking API

  • Lower level namespace types no longer exist (PR117), e.g. py_trees.Status -> py_trees.common.Status
  • Python2 support dropped

New Features

  • [idioms] ‘Pick Up Where You Left Off’
  • [idioms] ‘OneShot’

0.8.0 (2018-10-18)

  • [infra] shortcuts to types in __init__.py removed (PR117)
  • [bugfix] python3 rosdeps
  • [idioms] pick_up_where_you_left_off added

0.7.5 (2018-10-10)

  • [idioms] oneshot added
  • [bugfix] properly set/reset parents when replacing/removing children in composites

0.7.0 (2018-09-27)

  • [announce] python3 only support from this point forward
  • [announce] now compatible for ros2 projects

0.6.5 (2018-09-19)

  • [bugfix] pick up missing feedback messages in inverters
  • [bugfix] eliminate costly/spammy blackboard variable check feedback message

0.6.4 (2018-09-19)

  • [bugfix] replace awkward newlines with spaces in ascii trees

0.6.3 (2018-09-04)

  • [bugfix] don’t send the parellel’s status to running children, invalidate them instead

0.6.2 (2018-08-31)

  • [bugfix] oneshot now reacts to priority interrupts correctly

0.6.1 (2018-08-20)

  • [bugfix] oneshot no longer permanently modifies the original class

0.6.0 (2018-05-15)

  • [infra] python 2/3 compatibility

0.5.10 (2017-06-17)

  • [meta] add children monkeypatching for composite imposters
  • [blackboard] check for nested variables in WaitForBlackboard

0.5.9 (2017-03-25)

  • [docs] bugfix image links and rewrite the motivation

0.5.8 (2017-03-19)

  • [infra] setup.py tests_require, not test_require

0.5.7 (2017-03-01)

  • [infra] update maintainer email

0.5.5 (2017-03-01)

  • [docs] many minor doc updates
  • [meta] bugfix so that imposter now ticks over composite children
  • [trees] method for getting the tip of the tree
  • [programs] py-trees-render program added

0.5.4 (2017-02-22)

  • [infra] handle pypi/catkin conflicts with install_requires

0.5.2 (2017-02-22)

  • [docs] disable colour when building
  • [docs] sidebar headings
  • [docs] dont require project installation

0.5.1 (2017-02-21)

  • [infra] pypi package enabled

0.5.0 (2017-02-21)

  • [ros] components moved to py_trees_ros
  • [timeout] bugfix to ensure timeout decorator initialises properly
  • [docs] rolled over with napolean style
  • [docs] sphinx documentation updated
  • [imposter] make sure tip() drills down into composites
  • [demos] re-organised into modules

0.4.0 (2017-01-13)

  • [trees] add pre/post handlers after setup, just in case setup fails
  • [introspection] do parent lookups so you can crawl back up a tree
  • [blackboard] permit init of subscriber2blackboard behaviours
  • [blackboard] watchers
  • [timers] better feedback messages
  • [imposter] ensure stop() directly calls the composited behaviour

0.3.0 (2016-08-25)

  • failure_is_running decorator (meta).

0.2.0 (2016-06-01)

  • do terminate properly amongst relevant classes
  • blackboxes
  • chooser variant of selectors
  • bugfix the decorators
  • blackboard updates on change only
  • improved dot graph creation
  • many bugfixes to composites
  • subscriber behaviours
  • timer behaviours

0.1.2 (2015-11-16)

  • one shot sequences
  • abort() renamed more appropriately to stop()

0.1.1 (2015-10-10)

  • lots of bugfixing stabilising py_trees for the spain field test
  • complement decorator for behaviours
  • dot tree views
  • ascii tree and tick views
  • use generators and visitors to more efficiently walk/introspect trees
  • a first implementation of behaviour trees in python