Added mg_bt

mg_bt/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.12)
+project(mg_bt)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+set(PACKAGE_DEPS
+  rclcpp
+  behaviortree_cpp
+  behaviortree_ros2
+  btcpp_ros2_interfaces
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  mg_msgs
+  std_msgs
+  std_srvs
+  )
+
+find_package(ament_cmake REQUIRED)
+
+include(FindPkgConfig)
+pkg_search_module(LIBGLM REQUIRED glm)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+    find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/mg_bt.cpp
+    src/mg_tree_executor.cpp
+)
+
+
+add_executable(mg_bt_executor ${SOURCES})
+
+target_include_directories(
+  mg_bt_executor
+  PRIVATE
+  ${LIBGLM_INCLUDE_DIRS}
+  include
+)
+
+ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
+
+install( TARGETS
+  mg_bt_executor
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  behavior_trees
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+target_compile_features(mg_bt_executor PUBLIC 
+  c_std_99
+  cxx_std_17
+)  # Require C99 and C++17
+
+ament_package()