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author
davide
committed
refactoring
1 parent 11f871c commit a0c6a75

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+163
-165
lines changed

‎CMakeLists.txt

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‎behaviortree_ros2/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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project(behaviortree_ros2)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(THIS_PACKAGE_DEPS
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rclcpp
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rclcpp_action
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ament_index_cpp
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behaviortree_cpp)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED )
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find_package(rclcpp_action REQUIRED )
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find_package(behaviortree_cpp REQUIRED )
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find_package(ament_index_cpp REQUIRED)
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# This is compiled only to check if there are errors in the header file
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# library will not be exported
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include_directories(include)
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add_library(${PROJECT_NAME} src/bt_ros2.cpp)
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ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_DEPS})
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######################################################
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# INSTALL
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install(DIRECTORY include/ DESTINATION include/)
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ament_export_include_directories(include)
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ament_export_dependencies(${THIS_PACKAGE_DEPS})
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ament_package()

‎include/behaviortree_ros2/bt_action_node.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/bt_action_node.hpp

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‎include/behaviortree_ros2/bt_service_node.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp

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‎include/behaviortree_ros2/bt_topic_pub_node.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/bt_topic_pub_node.hpp

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‎include/behaviortree_ros2/bt_topic_sub_node.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/bt_topic_sub_node.hpp

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‎include/behaviortree_ros2/plugins.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/plugins.hpp

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‎include/behaviortree_ros2/ros_node_params.hpp renamed to ‎behaviortree_ros2/include/behaviortree_ros2/ros_node_params.hpp

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‎package.xml renamed to ‎behaviortree_ros2/package.xml

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<depend>rclcpp_action</depend>
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<depend>behaviortree_cpp</depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>action_msgs</depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

‎src/bt_ros2.cpp renamed to ‎behaviortree_ros2/src/bt_ros2.cpp

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‎btcpp_ros2_interfaces/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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project(btcpp_ros2_interfaces)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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find_package(ament_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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rosidl_generate_interfaces(sleep_interface
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"action/Sleep.action")
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ament_export_dependencies(rosidl_default_runtime)
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ament_package()

‎action/Sleep.action renamed to ‎btcpp_ros2_interfaces/action/Sleep.action

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‎btcpp_ros2_interfaces/package.xml

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<package format="3">
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<name>btcpp_ros2_interfaces</name>
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<version>0.1.0</version>
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<description>
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ROS2 interfaces, mostly used to demonstrate behaviortree_ros2
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</description>
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<maintainer email="davide.faconti@gmail.com">Davide Faconti</maintainer>
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<license>MIT</license>
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<author>Davide Faconti</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>action_msgs</depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎btcpp_ros2_samples/CMakeLists.txt

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cmake_minimum_required(VERSION 3.16)
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project(btcpp_ros2_samples)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(behaviortree_ros2 REQUIRED)
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find_package(btcpp_ros2_interfaces REQUIRED)
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set(THIS_PACKAGE_DEPS
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rclcpp
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rclcpp_action
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behaviortree_ros2
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btcpp_ros2_interfaces )
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######################################################
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# Build a client that call the sleep action (STATIC version)
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add_library(sleep_static STATIC src/sleep_action.cpp)
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ament_target_dependencies(sleep_static ${THIS_PACKAGE_DEPS})
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add_executable(sleep_client src/sleep_client.cpp)
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target_link_libraries(sleep_client sleep_static )
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ament_target_dependencies(sleep_client ${THIS_PACKAGE_DEPS})
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######################################################
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# Build a client that call the sleep action (Plugin version)
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add_library(sleep_plugin SHARED src/sleep_action.cpp)
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target_compile_definitions(sleep_plugin PRIVATE BT_PLUGIN_EXPORT )
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ament_target_dependencies(sleep_plugin ${THIS_PACKAGE_DEPS})
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add_executable(sleep_client_dyn src/sleep_client.cpp)
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target_compile_definitions(sleep_client_dyn PRIVATE USE_SLEEP_PLUGIN )
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target_link_libraries(sleep_client_dyn sleep_plugin )
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ament_target_dependencies(sleep_client_dyn ${THIS_PACKAGE_DEPS})
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######################################################
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# Build Server
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add_executable(sleep_server src/sleep_server.cpp)
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ament_target_dependencies(sleep_server ${THIS_PACKAGE_DEPS})
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######################################################
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# INSTALL
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install(TARGETS
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# sleep_client
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# sleep_client_dyn
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sleep_server
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# sleep_plugin
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
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ament_package()

‎btcpp_ros2_samples/package.xml

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<package format="3">
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<name>btcpp_ros2_samples</name>
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<version>0.1.0</version>
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<description>
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Examples related to behaviortree_ros2
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</description>
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<maintainer email="davide.faconti@gmail.com">Davide Faconti</maintainer>
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<license>MIT</license>
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<author>Davide Faconti</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>behaviortree_ros2</depend>
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<depend>btcpp_ros2_interfaces</depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎test/sleep_action.cpp renamed to ‎btcpp_ros2_samples/src/sleep_action.cpp

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‎test/sleep_action.hpp renamed to ‎btcpp_ros2_samples/src/sleep_action.hpp

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#include <behaviortree_ros2/bt_action_node.hpp>
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#include "behaviortree_ros2/action/sleep.hpp"
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#include "behaviortree_ros2/bt_action_node.hpp"
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#include "btcpp_ros2_interfaces/action/sleep.hpp"
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using namespace BT;
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class SleepAction: public RosActionNode<behaviortree_ros2::action::Sleep>
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class SleepAction: public RosActionNode<btcpp_ros2_interfaces::action::Sleep>
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{
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public:
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SleepAction(const std::string& name,
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const NodeConfig& conf,
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const RosNodeParams& params)
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: RosActionNode<behaviortree_ros2::action::Sleep>(name, conf, params)
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: RosActionNode<btcpp_ros2_interfaces::action::Sleep>(name, conf, params)
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{}
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static BT::PortsList providedPorts()

‎test/sleep_client.cpp renamed to ‎btcpp_ros2_samples/src/sleep_client.cpp

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#include <behaviortree_ros2/bt_action_node.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <rclcpp/executors.hpp>
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#include "behaviortree_ros2/bt_action_node.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp/executors.hpp"
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#include "behaviortree_ros2/plugins.hpp"
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‎test/sleep_server.cpp renamed to ‎btcpp_ros2_samples/src/sleep_server.cpp

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#include "rclcpp/rclcpp.hpp"
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#include "rclcpp_action/rclcpp_action.hpp"
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#include "behaviortree_ros2/action/sleep.hpp"
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#include "btcpp_ros2_interfaces/action/sleep.hpp"
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#include "behaviortree_ros2/bt_action_node.hpp"
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class SleepActionServer : public rclcpp::Node
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{
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public:
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using Sleep = behaviortree_ros2::action::Sleep;
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using Sleep = btcpp_ros2_interfaces::action::Sleep;
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using GoalHandleSleep = rclcpp_action::ServerGoalHandle<Sleep>;
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explicit SleepActionServer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions())

‎test/CMakeLists.txt

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