Added initial batch of behaviors

toid_bt/CMakeLists.txt

@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.8)
+project(toid_bt)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+set(PACKAGE_DEPS
+  rclcpp
+  angles
+  behaviortree_cpp
+  behaviortree_ros2
+  btcpp_ros2_interfaces
+  nav2_util
+  tf2
+  tf2_ros
+  tf2_geometry_msgs
+  geometry_msgs
+  toid_msgs
+  std_msgs
+  std_srvs
+)
+
+foreach(PACKAGE ${PACKAGE_DEPS})
+  find_package(${PACKAGE} REQUIRED)
+endforeach()
+
+set(SOURCES
+    src/bt_executor.cpp
+)
+
+add_executable(toid_bt ${SOURCES})
+
+target_include_directories(
+  toid_bt
+  PRIVATE
+  include
+)
+
+ament_target_dependencies(toid_bt ${PACKAGE_DEPS})
+
+install(TARGETS toid_bt DESTINATION lib/${PROJECT_NAME})
+
+install(
+  DIRECTORY 
+    launch 
+    params
+    behavior_trees
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+target_compile_features(
+  toid_bt PUBLIC
+  c_std_99
+  cxx_std_17
+)
+
+
+ament_package()
+