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FIXME - Bug Tracker

This file tracks reported bugs from GitHub issues. For each bug, the workflow is:

  1. Write a unit test that reproduces the issue
  2. Evaluate whether the behavior diverges from intended library semantics
  3. Fix the issue (if confirmed as a bug)

IMPORTANT: NEVER modify existing tests that were not created in this branch. Only add new tests.

Scripting / Script Parser

[x] #1029 - Mathematical order of operations in script is wrong

  • URL: #1029
  • Summary: A - B + C is evaluated as A - (B + C) instead of left-to-right. The expression parser applies incorrect associativity for addition and subtraction at the same precedence level.
  • Component: src/scripting/
  • Test file: tests/gtest_scripting.cpp (or new)

[x] #923 - Out-of-bounds read in script validation

  • URL: #923
  • Summary: ValidateScript can create a std::string from a non-NULL-terminated fixed-size stack buffer when parsing invalid scripts that generate large error messages, causing strlen to read out of bounds.
  • Component: src/scripting/
  • Test file: tests/gtest_scripting.cpp (or new)

[x] #832 - Script compare with negative number throws exception

  • URL: #832
  • Summary: Using a negative number in a script precondition (e.g., _failureIf="A!=-1") throws a runtime exception. The scripting parser cannot handle negative number literals in comparisons.
  • Component: src/scripting/
  • Test file: tests/gtest_scripting.cpp (or new)

Ports / Type Conversion

[x] #1065 - Type conversion problem with subtree

  • URL: #1065
  • Summary: Passing a std::deque<double> through a SubTree port via a string literal (e.g., "1;2;3") throws std::runtime_error about no safe conversion between std::string and std::shared_ptr<std::deque<double>>. String-to-deque conversion fails at subtree boundary.
  • Component: src/xml_parsing.cpp, include/behaviortree_cpp/basic_types.h
  • Test file: tests/gtest_ports.cpp (or new)

[x] #982 - Vectors initialized with json:[] string instead of empty

  • URL: #982
  • Summary: When a port of type std::vector<std::string> has a default empty value {} and no input is specified in XML, the vector is initialized with the literal string "json:[]" instead of being an empty vector.
  • Component: include/behaviortree_cpp/basic_types.h, src/xml_parsing.cpp
  • Test file: tests/gtest_ports.cpp

[x] #969 - LoopNode: std::vector vs std::deque type mismatch

  • URL: #969
  • Summary: LoopNode<T> uses std::shared_ptr<std::deque<T>> for its queue port, but upstream nodes often produce std::vector<T>. This creates a port type conflict during tree creation.
  • Component: include/behaviortree_cpp/decorators/loop_node.h
  • Test file: tests/gtest_decorator.cpp (or new)

[x] #948 - ParseString errors with custom enum types

  • URL: #948
  • Summary: parseString in tree_node.h has an unsafe find on an unordered_map that may not be instantiated yet if getInput is called during construction. Also, custom enum types cannot be properly parsed via convertFromString.
  • Component: include/behaviortree_cpp/tree_node.h, include/behaviortree_cpp/basic_types.h
  • Test file: tests/gtest_ports.cpp

[x] #858 - getInput throws when default parameter is passed

  • URL: #858
  • Summary: Calling getInput with a default parameter value throws std::out_of_range (_Map_base::at). The internal map lookup fails when the port has a default value but the entry does not exist in the expected location.
  • Component: include/behaviortree_cpp/tree_node.h
  • Test file: tests/gtest_ports.cpp

Blackboard

[x] #974 - Blackboard set() stores values as string type

  • URL: #974
  • Summary: When using blackboard->set(key, value.dump()) to set numeric values from JSON, the blackboard stores them as strings. Subsequent scripting operations with numeric operators fail because string types cannot be compared numerically.
  • Component: src/blackboard.cpp, include/behaviortree_cpp/blackboard.h
  • Test file: tests/gtest_blackboard.cpp

[x] #942 - Default blackboard entry not created for locked content

  • URL: #942
  • Summary: When using getLockedPortContent on a port with a default blackboard entry, no blackboard entry is actually created on the first call. The returned AnyPtrLocked is a default/empty value not placed into the blackboard.
  • Component: src/blackboard.cpp, include/behaviortree_cpp/blackboard.h
  • Test file: tests/gtest_blackboard.cpp

[x] #408 - debugMessage does not print parent values in SubTree

  • URL: #408
  • Summary: config().blackboard->debugMessage() inside a SubTree node's constructor does not show remapped entries from the parent blackboard. The function only checks internal_to_external_ after finding an entry in storage_.
  • Component: src/blackboard.cpp
  • Test file: tests/gtest_blackboard.cpp

Control Nodes (Parallel)

[ ] #1045 - Test PauseWithRetry is flaky

  • URL: #1045
  • Summary: The Parallel.PauseWithRetry test fails intermittently due to tight timing assertions. Measured time drifts beyond the allowed margin.
  • Component: tests/gtest_parallel.cpp
  • Test file: tests/gtest_parallel.cpp

[ ] #1041 - Performance degradation after prolonged operation in parallel nodes

  • URL: #1041
  • Summary: After prolonged operation, when a parallel node's child detects an exception and exits, the interval before other nodes wait for execution becomes increasingly longer. Likely related to resource accumulation or thread management.
  • Component: src/controls/parallel_node.cpp
  • Test file: tests/gtest_parallel.cpp (or new)

[ ] #966 - ParallelAll max_failures off-by-one semantics

  • URL: #966
  • Summary: ParallelAll documents max_failures as "if the number of children returning FAILURE exceeds this value" but implements >= (greater-than-or-equal). Documentation and implementation disagree.
  • Component: src/controls/parallel_all_node.cpp
  • Test file: tests/gtest_parallel.cpp

Control Nodes (Reactive)

[ ] #1031 - Race condition in ReactiveSequence/ReactiveFallback with async children

  • URL: #1031
  • Summary: With backchaining patterns, a previously RUNNING child is halted only after another child's onStart is executed. Two children are in RUNNING state simultaneously briefly, causing race conditions.
  • Component: src/controls/reactive_sequence.cpp, src/controls/reactive_fallback.cpp
  • Test file: tests/gtest_reactive.cpp (or new)

[ ] #917 - Precondition not re-checked in ReactiveSequence

  • URL: #917
  • Summary: When a node has a _successIf precondition inside a ReactiveSequence, the precondition is never re-evaluated after the node enters RUNNING state. The node continues returning RUNNING instead of SUCCESS.
  • Component: src/controls/reactive_sequence.cpp, src/tree_node.cpp
  • Test file: tests/gtest_reactive.cpp

XML Parsing

[ ] #979 - Recursive behavior trees cause stack overflow

  • URL: #979
  • Summary: A behavior tree can reference its own ID as a SubTree, causing infinite recursion and stack overflow during XML parsing. The parser does not detect or prevent cyclic subtree references.
  • Component: src/xml_parsing.cpp
  • Test file: tests/gtest_factory.cpp (or new)

[ ] #883 - JSON string in port value interpreted as blackboard reference

  • URL: #883
  • Summary: Setting a port value to a JSON string in XML (e.g., settings='{{"a": 0.8}}') causes {} content to be interpreted as blackboard variable references instead of literal JSON.
  • Component: src/xml_parsing.cpp, src/tree_node.cpp
  • Test file: tests/gtest_factory.cpp (or new)

[ ] #880 - External subtree from file not found when loaded via inline XML

  • URL: #880
  • Summary: When a subtree is registered via registerBehaviorTreeFromFile() and then referenced from inline XML via createTreeFromText(), the factory throws "Can't find a tree with name: MyTree".
  • Component: src/xml_parsing.cpp, src/bt_factory.cpp
  • Test file: tests/gtest_factory.cpp

[ ] #672 - Stack buffer overflow in xml_parsing.cpp

  • URL: #672
  • Summary: AddressSanitizer detects a stack-buffer-overflow in xml_parsing.cpp when parsing certain XML tree definitions. Memory safety issue in the XML parser.
  • Component: src/xml_parsing.cpp
  • Test file: tests/gtest_factory.cpp (or new)

BehaviorTreeFactory

[ ] #1046 - Heap use-after-free when factory is destroyed before ticking

  • URL: #1046
  • Summary: If BehaviorTreeFactory is destroyed before its created tree is ticked, NodeConfig holds a dangling pointer to TreeNodeManifest owned by the factory. Accessing it causes heap-use-after-free.
  • Component: src/bt_factory.cpp, include/behaviortree_cpp/tree_node.h
  • Test file: tests/gtest_factory.cpp

[ ] #937 - BehaviorTreeFactory cannot be returned by value

  • URL: #937
  • Summary: Making BehaviorTreeFactory non-copyable also inadvertently prevents returning it by value from functions. Some compilers do not apply guaranteed copy elision in all contexts.
  • Component: include/behaviortree_cpp/bt_factory.h
  • Test file: tests/gtest_factory.cpp (or new)

[ ] #934 - Segfault when substituting subtree

  • URL: #934
  • Summary: factory.loadSubstitutionRuleFromJSON() followed by factory.createTree() causes a segmentation fault when the substitution target is a subtree node.
  • Component: src/bt_factory.cpp
  • Test file: tests/gtest_factory.cpp

[ ] #930 - Mock substitution with registerSimpleAction causes tree to hang

  • URL: #930
  • Summary: When using mock node substitution rules with registerSimpleAction(), the behavior tree gets stuck after an async delay finishes. The substituted node does not behave like the original.
  • Component: src/bt_factory.cpp
  • Test file: tests/gtest_factory.cpp (or new)

Loggers

[ ] #1057 - Groot2Publisher enters infinite loop on exception

  • URL: #1057
  • Summary: Groot2Publisher can enter an infinite loop during destruction. When active_server is set to false, it can be reset to true depending on timing, causing server_thread.join() to hang indefinitely.
  • Component: src/loggers/groot2_publisher.cpp
  • Test file: New test needed

Tree Execution

[ ] #686 - haltTree doesn't effectively halt tickWhileRunning

  • URL: #686
  • Summary: haltTree() resets tree status to IDLE, which only breaks the inner loop of tickRoot. The outer loop then restarts execution because IDLE satisfies its condition, so the tree is never truly halted with tickWhileRunning().
  • Component: src/bt_factory.cpp, include/behaviortree_cpp/bt_factory.h
  • Test file: tests/gtest_tree.cpp (or new)

TreeNode

[ ] #861 - Tick time monitoring can measure 0 due to instruction reordering

  • URL: #861
  • Summary: The std::chrono calls around executeTick() in tree_node.cpp can be reordered by the compiler, resulting in a measured tick duration of 0.
  • Component: src/tree_node.cpp
  • Test file: tests/gtest_tree.cpp (or new)

JSON Exporter

[ ] #989 - JsonExporter throws during vector conversion

  • URL: #989
  • Summary: A bad_function_call exception is thrown when converting std::vector types to JSON via JsonExporter. The conversion function is not properly registered for vector types.
  • Component: include/behaviortree_cpp/json_export.h
  • Test file: New test needed

Build / Dependencies

[ ] #959 - Version conflict with embedded nlohmann::json causes UB

  • URL: #959
  • Summary: The library embeds nlohmann::json v3.11.3 in its headers. If the user's codebase uses a different version, ODR violations occur depending on header include order, potentially causing undefined behavior.
  • Component: 3rdparty/, CMakeLists.txt
  • Test file: Build system test / CMake configuration

Platform-Specific

[ ] #869 - Read access violation on Windows debug build

  • URL: #869
  • Summary: Running on VS 2022 in Debug mode causes a read access violation in string hashing within the library DLL. Release mode works fine, suggesting a debug-mode-specific memory issue.
  • Component: Core library (platform-specific)
  • Test file: Requires Windows environment

Summary

Category Count Issue Numbers
Scripting / Script Parser 3 #1029, #923, #832
Ports / Type Conversion 5 #1065, #982, #969, #948, #858
Blackboard 3 #974, #942, #408
Control Nodes (Parallel) 3 #1045, #1041, #966
Control Nodes (Reactive) 2 #1031, #917
XML Parsing 4 #979, #883, #880, #672
BehaviorTreeFactory 4 #1046, #937, #934, #930
Loggers 1 #1057
Tree Execution 1 #686
TreeNode 1 #861
JSON Exporter 1 #989
Build / Dependencies 1 #959
Platform-Specific 1 #869
Total 30