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Document the MSVC timer resolution caveat of Tree::sleep #1257

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facontidavide merged 1 commit into from
Oct 24, 2026
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Document the MSVC timer resolution caveat of Tree::sleep #1257

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5 changes: 5 additions & 0 deletions include/behaviortree_cpp/bt_factory.h
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Original file line number Diff line number Diff line change
Expand Up @@ -133,6 +133,11 @@ class Tree
* @param timeout duration of the sleep
* @return true if the timeout was NOT reached and the signal was received.
*
* @note On MSVC, std::condition_variable::wait_for() rounds the timeout up to the
* system timer resolution (about 15.6 ms), see microsoft/STL#2173. A short sleep, e.g.
* in tickWhileRunning(), can take much longer there. Calling timeBeginPeriod(1) once
* at startup (Windows API, links winmm) restores a 1 ms resolution.
*
* */
bool sleep(std::chrono::system_clock::duration timeout);

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