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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(vizzy_behavior_trees)
set(CMAKE_BUILD_TYPE RELEASE)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
actionlib_msgs
behaviortree_cpp_v3
geometry_msgs
roscpp
rospy
std_msgs
vizzy_msgs
woz_dialog_msgs
actionlib
move_base_msgs
tf2
tf2_ros
message_generation
)
add_service_files(
FILES
StringSrv.srv
)
add_action_files(
DIRECTORY action
FILES General.action
)
generate_messages(
DEPENDENCIES actionlib_msgs std_msgs # Or other packages containing msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES vizzy_actions
CATKIN_DEPENDS actionlib_msgs behaviortree_cpp_v3 geometry_msgs roscpp rospy std_msgs vizzy_msgs woz_dialog_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(vizzy_actions SHARED
src/rosbt/rosbt_blackboard.cpp
src/rosbt/rosbt_loadplugins.cpp
)
add_dependencies(vizzy_actions vizzy_msgs_generate_messages_cpp woz_dialog_msgs_generate_messages_cpp vizzy_behavior_trees_generate_messages_cpp)
target_link_libraries(vizzy_actions PRIVATE ${BEHAVIOR_TREE_LIBRARY} ${catkin_LIBRARIES})
set_target_properties(vizzy_actions PROPERTIES ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY})
add_executable(main_tree_node src/main_tree_node.cpp)
target_link_libraries(main_tree_node
${catkin_LIBRARIES} ${BEHAVIOR_TREE_LIBRARY} vizzy_actions
)
## Declare a C+ shared libary to use as a plugin by behavior trees
add_library(rosbt_vizzybts_dyn SHARED
src/plugin/vizzy_behavior_trees_lib.cpp
src/actions/ros_srvs/call_empty_srv.cpp
src/actions/ros_srvs/call_trigger_srv.cpp
src/actions/ros_srvs/call_stringsrv_srv.cpp
src/actions/general/general.cpp
src/actions/speech/speech_actions.cpp
src/actions/navigation/move_base_actions.cpp
src/actions/navigation/charging_actions.cpp
src/actions/gaze/gaze_actions.cpp
src/actions/arms/arms_cartesian_actions.cpp
src/actions/arms/arm_routines.cpp
src/actions/torso/torso_actions.cpp
src/actions/ros_msgs/pubsub_std_msgs.cpp
src/actions/ros_msgs/pubsub_geometry_msgs.cpp
src/conditions/general/general.cpp)
add_dependencies(rosbt_vizzybts_dyn vizzy_actions vizzy_msgs_generate_messages_cpp woz_dialog_msgs_generate_messages_cpp vizzy_behavior_trees_generate_messages_cpp)
target_link_libraries(rosbt_vizzybts_dyn PRIVATE ${BEHAVIOR_TREE_LIBRARY} ${catkin_LIBRARIES} vizzy_actions)
target_compile_definitions(rosbt_vizzybts_dyn PRIVATE BT_PLUGIN_EXPORT )