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()