new readme

README.md

@@ -8,39 +8,35 @@
 
 # BehaviorTree.CPP
 
-<p align="center"><img src="docs/images/ReadTheDocs.png"></p>
+<p align="center"><img src="animated.svg"></p>
 
-This  __C++ 14__ library provides a framework to create BehaviorTrees.
+This  __C++ 17__ library provides a framework to create BehaviorTrees.
 It was designed to be flexible, easy to use, reactive and fast.
 
 Even if our main use-case is __robotics__, you can use this library to build
-__AI for games__, or to replace Finite State Machines in your application.
+__AI for games__, or to replace Finite State Machines.
 
 There are few features that make __BehaviorTree.CPP__ unique, when compared to other implementations:
 
 - It makes __asynchronous Actions__, i.e. non-blocking, a first-class citizen.
 
 - You can build __reactive__ behaviors that execute multiple Actions concurrently.
 
-- Trees are defined using a Domain Specific Scripting __scripting language__ (based on XML), and can be loaded at run-time; in other words, even if written in C++, Trees are _not_ hard-coded.
+- Trees are defined using a Domain Specific __scripting language__ (based on XML), and can be loaded at run-time; in other words, even if written in C++, the morphology of the Trees is _not_ hard-coded.
 
 - You can statically link your custom TreeNodes or convert them into __plugins__
-which can be loaded at run-time.
+and load them at run-time.
 
 - It provides a type-safe and flexible mechanism to do __Dataflow__ between
   Nodes of the Tree.
 
 - It includes a __logging/profiling__ infrastructure that allows the user 
 to visualize, record, replay and analyze state transitions.
 
-- Last but not least: it is well [documented](https://www.behaviortree.dev/)!
-
 ## Documentation
 
 You can learn about the main concepts, the API and the tutorials here: https://www.behaviortree.dev/
 
-To find more details about the conceptual ideas that make this implementation different from others,
-you can read the [final deliverable of the project MOOD2Be](https://github.com/BehaviorTree/BehaviorTree.CPP/blob/master/MOOD2Be_final_report.pdf).
 
 ## Forum and Community
 
@@ -64,15 +60,9 @@ In practice, this means that:
  You should be able to implement them once and reuse them to build many behaviors.
 
 - To build a Behavior Tree out of TreeNodes, the Behavior Designer must 
-not need to read nor modify the C++ source code of a given TreeNode.
-
-- Complex Behaviours must be composable using Subtrees
-
-Many of the features and, sometimes, the apparent limitations of this library, might be a consequence 
-of this design principle. 
+not need to read nor to modify the C++ source code..
 
-For instance, having a scoped BlackBoard, visible only in a portion of the tree, is particularly important 
-to avoid "name pollution" and allow the creation of large scale trees.
+- Complex Behaviours must be composable using Subtrees. 
 
 # GUI Editor
 
@@ -83,13 +73,6 @@ If you are looking for a more fancy graphical user interface (and I know you do)
 
 ![Groot screenshot](docs/groot-screenshot.png)
 
-## Watch Groot and BehaviorTree.CPP in action
-
-Click on the following image to see a short video of how the C++ library and
-the graphic user interface are used to design and monitor a Behavior Tree.
-
-[![MOOD2Be](docs/video_MOOD2Be.png)](https://vimeo.com/304651183)
-
 # How to compile (plain old cmake)
 
 On Ubuntu, you are encourage to install the following dependencies:
@@ -105,12 +88,11 @@ To compile and install the library, from the BehaviorTree.CPP folder, execute:
      make
      sudo make install
 
-If you want to use BT.CPp in your application a typical **CMakeLists.txt** file 
+If you want to use BT.CPP in your application a typical **CMakeLists.txt** file 
 will look like this:
 
 ```cmake
 cmake_minimum_required(VERSION 3.10.2)
-
 project(hello_BT)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -121,41 +103,6 @@ add_executable(${PROJECT_NAME} "hello_BT.cpp")
 target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp)
 ```
 
-## ROS1 or ROS2 users (Catkin/Ament)
-
-You can easily install the package with the command
-
-      sudo apt-get install ros-$ROS_DISTRO-behaviortree-cpp-v4
-      
-If you want to compile it with catkin, you __must__ include this package 
-to your catkin workspace.
-
-# Acknowledgement
-
-This library was initially developed at  **Eurecat - https://eurecat.org/en/** (main author, Davide Faconti) in a joint effort
-with the **Italian Institute of Technology** (Michele Colledanchise).
-
-This software is one of the main components of [MOOD2Be](https://eurecat.org/en/portfolio-items/mood2be/),
-which is one of the six **Integrated Technical Projects (ITPs)** selected from the
-[RobMoSys first open call](https://robmosys.eu/itp/). Therefore, MOOD2Be has been supported by the European Horizon2020 project RobMoSys. This software is RobMoSys conformant. 
-
-![RobMoSys Conformant](docs/robmosys_conformant_logo.png)
-
-# Further readings
-
-- Introductory article: [Behavior trees for AI: How they work](http://www.gamasutra.com/blogs/ChrisSimpson/20140717/221339/Behavior_trees_for_AI_How_they_work.php)
-
-- **How Behavior Trees Modularize Hybrid Control Systems and Generalize 
-Sequential Behavior Compositions, the Subsumption Architecture,
-and Decision Trees.** 
-Michele Colledanchise and Petter Ogren. IEEE Transaction on Robotics 2017.
-
-- **Behavior Trees in Robotics and AI**, 
-published by CRC Press Taylor & Francis, available for purchase
-(ebook and hardcover) on the CRC Press Store or Amazon.
-
-The Preprint version (free) is available here: https://arxiv.org/abs/1709.00084
-
 # License
 
 The MIT License (MIT)
@@ -164,7 +111,7 @@ Copyright (c) 2014-2018 Michele Colledanchise
 
 Copyright (c) 2018-2019 Davide Faconti, Eurecat
 
-Copyright (c) 2019-2021 Davide Faconti
+Copyright (c) 2019-2022 Davide Faconti
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal