Initial Commit

mg_bt/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 3.8)
+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()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(behaviortree_cpp REQUIRED)
+find_package(behaviortree_ros2 REQUIRED)
+find_package(btcpp_ros2_interfaces REQUIRED)
+find_package(mg_msgs REQUIRED)
+
+set(PACKAGE_DEPS
+  rclcpp
+  behaviortree_cpp
+  behaviortree_ros2
+  btcpp_ros2_interfaces
+  mg_msgs
+)
+
+
+add_executable(mg_bt_executor 
+  src/mg_bt_executor.cpp
+  src/MoveStraightBehavior.cpp)
+ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
+
+target_include_directories(
+  mg_bt_executor
+  PRIVATE
+  include
+)
+
+install( TARGETS
+  mg_bt_executor
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  behavior_tree_nodes
+  behavior_trees
+  config
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+
+ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
+
+ament_package()