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行为树安装和配置
|行为树|
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安装

安装依赖项，然后去github的release里下载最新的版本编译安装。

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sudo apt-get sqlite3
sudo apt-get install libzmq3-dev libboost-dev
sudo apt-get install libboost-coroutine-dev # 需要用到协程

sudo apt-get install qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev

普通的cmake设置如下

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cmake_minimum_required(VERSION 3.10.2)
 
project(simple_bt)
 
set(CMAKE_CXX_SaTANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
find_package(behaviortree_cpp)
 
add_executable(${PROJECT_NAME} "simple_bt.cpp")
target_link_libraries(${PROJECT_NAME} BT::behaviortree_cpp)

如果是通过sudo apt-get install ros-humble-behavior-cpp安装的，只能在ROS2环境的设置，因为so文件依赖 ament_index_cpp:

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cmake_minimum_required(VERSION 3.8)
project(test_node)

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

set(CMAKE_CXX_STANDARD 17)

add_compile_options(-Wextra -Wpedantic -Wno-unused-parameter -g)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ament_index_cpp)
find_package(behaviortree_cpp)

INCLUDE_DIRECTORIES(/home/user/catkin_ws/src/test_node/include)

add_executable(test_node  src/test.cpp)

ament_target_dependencies(test_node   
  rclcpp
  behaviortree_cpp
    ${BTCPP_LIBRARY}
)

install(TARGETS
  test_node
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()

package.xml如下：

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>test_node</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="user@todo.todo">zzp</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>behaviortree_cpp</depend>
  
  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

ROS2行为树动态库默认安装在/opt/ros/galactic/lib/libbehaviortree_cpp_v3.so，头文件在/opt/ros/foxy/include/behaviortree_cpp_v3