From b8e41b052aad0c7c77ad24a4b4512a89901b665c Mon Sep 17 00:00:00 2001
From: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Date: Tue, 5 May 2026 11:24:58 +0200
Subject: [PATCH 1/2] Fix LoopNode does not reload dynamic vector input on
 second execution

I've implemented the suggestion from
https://github.com/BehaviorTree/BehaviorTree.CPP/issues/1124
This seems to have fixed the issue I had with LoopNode not reloading the
input vector on second execution.
---
 include/behaviortree_cpp/decorators/loop_node.h | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/include/behaviortree_cpp/decorators/loop_node.h b/include/behaviortree_cpp/decorators/loop_node.h
index de06d0165..7c89da68b 100644
--- a/include/behaviortree_cpp/decorators/loop_node.h
+++ b/include/behaviortree_cpp/decorators/loop_node.h
@@ -59,6 +59,8 @@ class LoopNode : public DecoratorNode
     if(status() == NodeStatus::IDLE)
     {
       child_running_ = false;
+      current_queue_.reset();
+
       // special case: the port contains a string that was converted to SharedQueue<T>
       if(static_queue_)
       {

From 01976d6fba58987b392638648f030a54d82b2072 Mon Sep 17 00:00:00 2001
From: Ramon Wijnands <ramon.wijnands@nobleo.nl>
Date: Tue, 5 May 2026 11:38:47 +0200
Subject: [PATCH 2/2] Add unittest for restarting LoopNode with a vector from
 the blackboard

---
 tests/gtest_loop.cpp | 36 ++++++++++++++++++++++++++++++++++++
 1 file changed, 36 insertions(+)

diff --git a/tests/gtest_loop.cpp b/tests/gtest_loop.cpp
index 3a69767ed..58216fc86 100644
--- a/tests/gtest_loop.cpp
+++ b/tests/gtest_loop.cpp
@@ -410,6 +410,42 @@ TEST(LoopNode, RestartAfterCompletion)
   ASSERT_EQ(tick_count, 3);  // Should iterate over queue again
 }
 
+TEST(LoopNode, RestartAfterCompletion_VectorFromBlackboard)
+{
+  BehaviorTreeFactory factory;
+
+  int tick_count = 0;
+  factory.registerSimpleAction("CountTicks", [&tick_count](TreeNode&) {
+    tick_count++;
+    return NodeStatus::SUCCESS;
+  });
+
+  const std::string xml_text = R"(
+    <root BTCPP_format="4">
+       <BehaviorTree>
+          <LoopInt queue="{my_vector}" value="{val}">
+            <CountTicks/>
+          </LoopInt>
+       </BehaviorTree>
+    </root>)";
+
+  auto tree = factory.createTreeFromText(xml_text);
+  tree.rootBlackboard()->set("my_vector", std::vector{ 1, 2, 3 });
+
+  // First execution
+  auto status = tree.tickWhileRunning();
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(tick_count, 3);
+
+  // Reset and execute again
+  tree.haltTree();
+  tick_count = 0;
+  tree.rootBlackboard()->set("my_vector", std::vector{ 1, 2, 3 });
+  status = tree.tickWhileRunning();
+  ASSERT_EQ(status, NodeStatus::SUCCESS);
+  ASSERT_EQ(tick_count, 3);  // Should iterate over vector again
+}
+
 // ============ convertFromString tests for SharedQueue ============
 
 TEST(LoopNode, ConvertFromString_Int)