Merge branch 'bt_layer_final_version' into 'master'

Bt layer final version

See merge request !2

CMakeLists.txt

@@ -7,10 +7,11 @@ add_definitions(-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 roscpp dynamic_reconfigure iri_ros_tools actionlib move_base_msgs tf nav_msgs std_srvs iri_base_algorithm)
+find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure iri_ros_tools actionlib move_base_msgs tf nav_msgs std_srvs iri_base_algorithm behaviortree_cpp_v3 iri_behaviortree)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
+find_package(ZMQ)
 
 find_package(iriutils REQUIRED)
 
@@ -101,8 +102,8 @@ generate_dynamic_reconfigure_options(
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
  INCLUDE_DIRS include
- LIBRARIES iri_ana_nav_module
- CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib move_base_msgs tf nav_msgs std_srvs iri_base_algorithm
+ LIBRARIES iri_ana_nav_module iri_ana_nav_module_bt
+ CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib move_base_msgs tf nav_msgs std_srvs iri_base_algorithm behaviortree_cpp_v3 iri_behaviortree
 
 #  DEPENDS system_lib
 )
@@ -121,9 +122,14 @@ include_directories(${iriutils_INCLUDE_DIR})
 add_library(iri_ana_nav_module
   src/iri_ana_nav_module.cpp
 )
+add_library(iri_ana_nav_module_bt
+  src/iri_ana_nav_module_bt.cpp
+)
 
 target_link_libraries(iri_ana_nav_module ${catkin_LIBRARIES})
+target_link_libraries(iri_ana_nav_module_bt ${catkin_LIBRARIES})
 target_link_libraries(iri_ana_nav_module ${iriutils_LIBRARY})
+target_link_libraries(iri_ana_nav_module_bt ${iriutils_LIBRARY})
 ##Link to other modules
 ##target_link_libraries(new_module <module path>/lib<module_name>.so)
 
@@ -131,12 +137,14 @@ target_link_libraries(iri_ana_nav_module ${iriutils_LIBRARY})
 ## as an example, code may need to be generated before libraries
 ## either from message generation or dynamic reconfigure
 add_dependencies(iri_ana_nav_module ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(iri_ana_nav_module_bt ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(iri_ana_nav_client src/iri_ana_nav_client_alg.cpp src/iri_ana_nav_client_alg_node.cpp)
 
 target_link_libraries(iri_ana_nav_client ${catkin_LIBRARIES})
 target_link_libraries(iri_ana_nav_client ${iriutils_LIBRARY})
 target_link_libraries(iri_ana_nav_client iri_ana_nav_module)
+target_link_libraries(iri_ana_nav_module_bt iri_ana_nav_module)
 
 add_dependencies(iri_ana_nav_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 

package.xml

@@ -60,6 +60,11 @@
   <run_depend>nav_msgs</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>std_srvs</run_depend>
+  <run_depend>behaviortree_cpp_v3</run_depend>
+  <run_depend>iri_behaviortree</run_depend>
+
+  <build_depend>behaviortree_cpp_v3</build_depend>
+  <build_depend>iri_behaviortree</build_depend>
   <!-- new dependencies -->
   <!--<run_depend>new run dependency</run_depend>-->