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Update CMakeLists.txt to use modern idioms.
Signed-off-by: Alberto Tudela <ajtudela@gmail.com>
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‎scitos2_behavior_tree/CHANGELOG.rst‎

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@@ -9,6 +9,7 @@ Changelog for package scitos2_behavior_tree
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* Add generate_scitos2_tree_nodes_xml.
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* Add unit testing.
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* The utils folder in test is just a copy of nav2_behavior_tree/test/utils because Rolling CI is currently broken. This will be removed once Rolling CI is fixed.
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* Update CMakeLists.txt to use modern idioms.
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0.3.0 (26-04-2023)
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------------------

‎scitos2_behavior_tree/CMakeLists.txt‎

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@@ -21,8 +21,7 @@ if(NOT CMAKE_CXX_STANDARD)
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endif()
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if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
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add_compile_options(-Wall -Wextra -Wpedantic -Wdeprecated -fPIC -Wshadow -Wnull-dereference)
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add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wdeprecated -fPIC -Wnull-dereference)
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add_compile_options("$<$<COMPILE_LANGUAGE:CXX>:-Wnon-virtual-dtor>")
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endif()
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@@ -51,49 +50,70 @@ endif()
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# ###############################################
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# # Find ament macros and libraries
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find_package(ament_cmake REQUIRED)
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find_package(behaviortree_cpp_v3 REQUIRED)
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find_package(nav2_behavior_tree REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(scitos2_msgs REQUIRED)
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find_package(behaviortree_cpp_v3 REQUIRED)
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find_package(nav2_behavior_tree REQUIRED)
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# ##########
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# # Build ##
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# ##########
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# # Specify additional locations of header files
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# # Your package locations should be listed before other locations
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include_directories(
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include
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add_library(scitos2_is_bumper_activated_condition_bt_node SHARED src/condition/is_bumper_activated_condition.cpp)
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target_include_directories(scitos2_is_bumper_activated_condition_bt_node PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
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)
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set(dependencies
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rclcpp
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rclcpp_action
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rclcpp_lifecycle
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scitos2_msgs
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behaviortree_cpp_v3
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nav2_behavior_tree
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target_link_libraries(scitos2_is_bumper_activated_condition_bt_node
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PUBLIC
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rclcpp::rclcpp
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${scitos2_msgs_TARGETS}
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)
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add_library(scitos2_is_bumper_activated_condition_bt_node SHARED src/condition/is_bumper_activated_condition.cpp)
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list(APPEND plugin_libs scitos2_is_bumper_activated_condition_bt_node)
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ament_target_dependencies(scitos2_is_bumper_activated_condition_bt_node
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PUBLIC
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behaviortree_cpp_v3
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) # TODO(ajtudela): Fix this in jazzy
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target_compile_definitions(scitos2_is_bumper_activated_condition_bt_node PRIVATE BT_PLUGIN_EXPORT)
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add_library(scitos2_emergency_stop_service_bt_node SHARED src/action/emergency_stop_service.cpp)
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list(APPEND plugin_libs scitos2_emergency_stop_service_bt_node)
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target_include_directories(scitos2_emergency_stop_service_bt_node PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
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)
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target_link_libraries(scitos2_emergency_stop_service_bt_node
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PUBLIC
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${scitos2_msgs_TARGETS}
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)
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ament_target_dependencies(scitos2_emergency_stop_service_bt_node
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PUBLIC
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nav2_behavior_tree
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) # TODO(ajtudela): Fix this in jazzy
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target_compile_definitions(scitos2_emergency_stop_service_bt_node PRIVATE BT_PLUGIN_EXPORT)
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add_library(scitos2_reset_motor_stop_service_bt_node SHARED src/action/reset_motor_stop_service.cpp)
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list(APPEND plugin_libs scitos2_reset_motor_stop_service_bt_node)
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foreach(bt_plugin ${plugin_libs})
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ament_target_dependencies(${bt_plugin} ${dependencies})
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target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
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endforeach()
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target_include_directories(scitos2_reset_motor_stop_service_bt_node PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
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)
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target_link_libraries(scitos2_reset_motor_stop_service_bt_node
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PUBLIC
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${scitos2_msgs_TARGETS}
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)
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ament_target_dependencies(scitos2_reset_motor_stop_service_bt_node
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PUBLIC
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nav2_behavior_tree
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) # TODO(ajtudela): Fix this in jazzy
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target_compile_definitions(scitos2_reset_motor_stop_service_bt_node PRIVATE BT_PLUGIN_EXPORT)
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# ############
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# # Install ##
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# ############
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install(TARGETS ${plugin_libs}
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install(TARGETS
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scitos2_is_bumper_activated_condition_bt_node
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scitos2_emergency_stop_service_bt_node
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scitos2_reset_motor_stop_service_bt_node
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
@@ -104,14 +124,14 @@ set(GENERATED_DIR ${CMAKE_CURRENT_BINARY_DIR}/gen)
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configure_file(plugins_list.hpp.in ${GENERATED_DIR}/plugins_list.hpp)
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add_executable(generate_scitos2_tree_nodes_xml src/generate_scitos2_tree_nodes_xml.cpp)
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ament_target_dependencies(generate_scitos2_tree_nodes_xml ${dependencies})
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ament_target_dependencies(generate_scitos2_tree_nodes_xml PUBLIC behaviortree_cpp_v3) # TODO(ajtudela): Fix this in jazzy
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# allow generate_scitos2_tree_nodes_xml to find plugins_list.hpp
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target_include_directories(generate_scitos2_tree_nodes_xml PRIVATE ${GENERATED_DIR})
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install(TARGETS generate_scitos2_tree_nodes_xml DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY include/
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DESTINATION include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(DIRECTORY test/utils/
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# ##################################
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# # ament specific configuration ##
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# ##################################
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ament_export_include_directories(include)
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ament_export_libraries(${plugin_libs})
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ament_export_dependencies(${dependencies})
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ament_export_include_directories(include/${PROJECT_NAME})
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ament_export_libraries(
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scitos2_is_bumper_activated_condition_bt_node
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scitos2_emergency_stop_service_bt_node
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scitos2_reset_motor_stop_service_bt_node
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)
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ament_export_dependencies(
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behaviortree_cpp_v3
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nav2_behavior_tree
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rclcpp
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rclcpp_action
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rclcpp_lifecycle
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scitos2_msgs
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)
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ament_export_targets(${PROJECT_NAME})
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ament_package()

‎scitos2_behavior_tree/package.xml‎

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@@ -8,12 +8,12 @@
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<license>Apache-2.0</license>
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<author email="ajtudela@gmail.com">Alberto Tudela</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>behaviortree_cpp_v3</depend>
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<depend>nav2_behavior_tree</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>rclcpp_lifecycle</depend>
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<depend>scitos2_msgs</depend>
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<depend>behaviortree_cpp_v3</depend>
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<depend>nav2_behavior_tree</depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>

‎scitos2_behavior_tree/test/CMakeLists.txt‎

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@@ -5,8 +5,11 @@ add_subdirectory(condition)
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# Test register
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ament_add_gtest(test_register
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test_register.cpp
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test_register.cpp
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)
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target_link_libraries(test_register
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rclcpp::rclcpp
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)
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ament_target_dependencies(test_register
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${dependencies}
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behaviortree_cpp_v3
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)

‎scitos2_behavior_tree/test/action/CMakeLists.txt‎

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@@ -2,20 +2,20 @@
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ament_add_gtest(test_scitos2_action_emergency_stop_service
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test_emergency_stop_service.cpp
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)
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ament_target_dependencies(test_scitos2_action_emergency_stop_service
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${dependencies}
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)
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target_link_libraries(test_scitos2_action_emergency_stop_service
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scitos2_emergency_stop_service_bt_node
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)
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ament_target_dependencies(test_scitos2_action_emergency_stop_service
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behaviortree_cpp_v3
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)
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# Test for the reset motor stop service
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ament_add_gtest(test_scitos2_action_reset_motor_stop_service
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test_reset_motor_stop_service.cpp
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)
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ament_target_dependencies(test_scitos2_action_reset_motor_stop_service
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${dependencies}
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)
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target_link_libraries(test_scitos2_action_reset_motor_stop_service
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scitos2_reset_motor_stop_service_bt_node
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)
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ament_target_dependencies(test_scitos2_action_reset_motor_stop_service
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behaviortree_cpp_v3
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)

‎scitos2_behavior_tree/test/condition/CMakeLists.txt‎

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@@ -1,10 +1,17 @@
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find_package(geometry_msgs REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(tf2_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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# Test for is bumper activated condition
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ament_add_gtest(test_scitos2_condition_is_bumper_activated
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test_is_bumper_activated_condition.cpp
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)
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ament_target_dependencies(test_scitos2_condition_is_bumper_activated
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${dependencies}
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)
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target_link_libraries(test_scitos2_condition_is_bumper_activated
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${geometry_msgs_TARGETS}
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scitos2_is_bumper_activated_condition_bt_node
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${scitos2_msgs_TARGETS}
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rclcpp_action::rclcpp_action
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${tf2_msgs_TARGETS}
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tf2_ros::tf2_ros
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)

‎scitos2_charging_dock/CHANGELOG.rst‎

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@@ -7,4 +7,5 @@ Changelog for package scitos2_charging_dock
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* Initial release.
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* Create README.md.
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* Redo the package to use the new docking system.
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* Update CMakeLists.txt to use modern idioms.
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* Contributors: Alberto Tudela

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