实现行为树执行器、任务协调和技能接口

2026-09-20 12:18:52 +08:00
commit 492676344a
143 changed files with 13010 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.16)
+project(bt_executor LANGUAGES CXX)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(bt_skill_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(behaviortree_cpp 4.10.0 EXACT REQUIRED)
+find_package(nlohmann_json REQUIRED)
+# The repository includes a ROS-free core. Both standalone tests and this node
+# compile these exact sources; no second implementation of the workflow exists.
+add_library(robot_bt_core STATIC ../../core/src/core.cpp ../../core/src/workflow.cpp)
+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 BT::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)
+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})
+ament_package()