26 lines
1.4 KiB
CMake
26 lines
1.4 KiB
CMake
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cmake_minimum_required(VERSION 3.16)
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project(bt_executor LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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find_package(ament_cmake REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(bt_skill_interfaces REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(behaviortree_cpp 4.10.0 EXACT REQUIRED)
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find_package(nlohmann_json REQUIRED)
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# The repository includes a ROS-free core. Both standalone tests and this node
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# compile these exact sources; no second implementation of the workflow exists.
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add_library(robot_bt_core STATIC ../../core/src/core.cpp ../../core/src/workflow.cpp)
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target_include_directories(robot_bt_core PUBLIC ../../core/include)
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add_executable(bt_executor_node src/executor_node.cpp src/ros_driver.cpp)
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target_include_directories(bt_executor_node PRIVATE include)
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target_link_libraries(bt_executor_node robot_bt_core BT::behaviortree_cpp nlohmann_json::nlohmann_json)
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ament_target_dependencies(bt_executor_node ament_index_cpp rclcpp rclcpp_action bt_skill_interfaces geometry_msgs std_msgs)
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target_compile_options(bt_executor_node PRIVATE -Wall -Wextra -Wpedantic)
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install(TARGETS bt_executor_node DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY trees launch config DESTINATION share/${PROJECT_NAME})
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ament_package()
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