#!/usr/bin/env bash
set -euo pipefail
if [[ ! -f /opt/ros/humble/setup.bash ]]; then
  echo 'NOT RUN: ROS2 Humble is not installed; no ROS compilation claim.' >&2
  exit 2
fi
# Humble's generated environment hooks inspect optional unset variables.
set +u
source /opt/ros/humble/setup.bash
set -u
command -v colcon >/dev/null || { echo 'colcon is required' >&2; exit 2; }
bt_repo_root="$(cd "$(dirname "${BASH_SOURCE[0]}")/../../.." && pwd)"
cd "$bt_repo_root"
# Install/build upstream BehaviorTree.CPP 4.10.0 separately and source its prefix.
# EXACT REQUIRED intentionally rejects an incompatible system BT.CPP package.
colcon build --base-paths ros2 --packages-up-to bt_executor robobrain_services bt_mock_servers --event-handlers console_direct+
colcon test --packages-select navigation_interfaces bt_skill_interfaces bt_executor --event-handlers console_direct+
colcon test-result --verbose