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Unify navigation on NavigateToPose and remove legacy proxies

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wangfeiyu
2026-09-22 17:40:25 +08:00
parent 964d1fde67
commit 24e0b922bc
40 changed files with 461 additions and 2592 deletions
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ros2/bt_executor/CMakeLists.txt
+2 -1
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@@ -7,6 +7,7 @@ find_package(ament_index_cpp REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(bt_skill_interfaces REQUIRED)
find_package(navigation_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(behaviortree_cpp 4.10.0 EXACT REQUIRED)
@@ -18,7 +19,7 @@ target_include_directories(robot_bt_core PUBLIC ../../core/include)
add_executable(bt_executor_node src/executor_node.cpp src/ros_driver.cpp)
target_include_directories(bt_executor_node PRIVATE include)
target_link_libraries(bt_executor_node robot_bt_core behaviortree_cpp::behaviortree_cpp nlohmann_json::nlohmann_json)
ament_target_dependencies(bt_executor_node ament_index_cpp rclcpp rclcpp_action bt_skill_interfaces geometry_msgs std_msgs)
ament_target_dependencies(bt_executor_node ament_index_cpp rclcpp rclcpp_action bt_skill_interfaces navigation_interfaces geometry_msgs std_msgs)
target_compile_options(bt_executor_node PRIVATE -Wall -Wextra -Wpedantic)
install(TARGETS bt_executor_node DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY trees launch config DESTINATION share/${PROJECT_NAME})