69 lines
1.6 KiB
CMake
69 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(mg_bt)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(behaviortree_cpp REQUIRED)
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find_package(behaviortree_ros2 REQUIRED)
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find_package(btcpp_ros2_interfaces REQUIRED)
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find_package(mg_msgs REQUIRED)
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set(PACKAGE_DEPS
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rclcpp
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behaviortree_cpp
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behaviortree_ros2
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btcpp_ros2_interfaces
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mg_msgs
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)
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add_executable(mg_bt_executor
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src/mg_bt_executor.cpp
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src/MoveStraightBehavior.cpp)
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ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
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target_include_directories(
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mg_bt_executor
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PRIVATE
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include
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)
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install( TARGETS
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mg_bt_executor
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY
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behavior_tree_nodes
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behavior_trees
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config
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
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ament_package()
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