CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(ros2_bt_utils)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)

set(DEPENDENCIES
  rclcpp
  rclcpp_action
  behaviortree_cpp_v3
)

include_directories(include)

set(LIBRARY_NAME ${PROJECT_NAME}_core)

add_library(${LIBRARY_NAME} SHARED
  src/ros2_utils.cpp
)

ament_target_dependencies(${LIBRARY_NAME} ${DEPENDENCIES})
install(TARGETS
  ${LIBRARY_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/ DESTINATION include/)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)

  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)

  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
  find_package(ament_cmake_gtest REQUIRED)
  add_subdirectory(tests)
endif()

ament_export_include_directories(include)
ament_export_libraries(${LIBRARY_NAME})
ament_export_dependencies(${DEPENDENCIES})

ament_package()