From 717ff616289f9e96372f7e9b4668801beac36b15 Mon Sep 17 00:00:00 2001
From: marqrazz <marq.razz@gmail.com>
Date: Fri, 12 Apr 2024 09:42:25 -0600
Subject: [PATCH] Export plugins to share directory

---
 btcpp_ros2_samples/CMakeLists.txt       | 9 +++++++++
 btcpp_ros2_samples/src/sleep_action.cpp | 4 ++--
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/btcpp_ros2_samples/CMakeLists.txt b/btcpp_ros2_samples/CMakeLists.txt
index f2bb870..1ff82b7 100644
--- a/btcpp_ros2_samples/CMakeLists.txt
+++ b/btcpp_ros2_samples/CMakeLists.txt
@@ -57,6 +57,15 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
   )
 
+######################################################
+# INSTALL plugins for other packages to load
+
+install(TARGETS
+  sleep_plugin
+  LIBRARY DESTINATION share/${PROJECT_NAME}/bt_plugins
+  ARCHIVE DESTINATION share/${PROJECT_NAME}/bt_plugins
+  RUNTIME DESTINATION share/${PROJECT_NAME}/bt_plugins
+  )
 
 ament_export_dependencies(behaviortree_ros2 btcpp_ros2_interfaces)
 
diff --git a/btcpp_ros2_samples/src/sleep_action.cpp b/btcpp_ros2_samples/src/sleep_action.cpp
index a838d74..cd28420 100644
--- a/btcpp_ros2_samples/src/sleep_action.cpp
+++ b/btcpp_ros2_samples/src/sleep_action.cpp
@@ -28,5 +28,5 @@ void SleepAction::onHalt()
 }
 
 // Plugin registration.
-// The class SleepAction will self register with name  "Sleep".
-CreateRosNodePlugin(SleepAction, "Sleep");
+// The class SleepAction will self register with name  "SleepAction".
+CreateRosNodePlugin(SleepAction, "SleepAction");