Commit 949da0d2 authored by Sergi Hernandez's avatar Sergi Hernandez
Browse files

Merge branch 'bt_layer_final_version' into 'master'

Bt layer final version

See merge request !2
parents c3f11ad1 8a6aab85
......@@ -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})
......
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......@@ -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>-->
......
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