project(plansys2_executor)
cmake_minimum_required(VERSION 3.5)
list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Threads REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(rclcpp_cascade_lifecycle REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(plansys2_core REQUIRED)
find_package(plansys2_pddl_parser REQUIRED)
find_package(plansys2_msgs REQUIRED)
find_package(plansys2_domain_expert REQUIRED)
find_package(plansys2_problem_expert REQUIRED)
find_package(plansys2_planner REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ZMQ)
if(ZMQ_FOUND)
message(STATUS "ZeroMQ found.")
add_definitions(-DZMQ_FOUND)
else()
message(WARNING "ZeroMQ NOT found. Not including PublisherZMQ.")
endif()
set(CMAKE_CXX_STANDARD 17)
set(dependencies
rclcpp
rclcpp_lifecycle
lifecycle_msgs
rclcpp_cascade_lifecycle
rclcpp_action
plansys2_pddl_parser
ament_index_cpp
plansys2_core
plansys2_msgs
plansys2_domain_expert
plansys2_problem_expert
plansys2_planner
behaviortree_cpp_v3
std_msgs
)
include_directories(include ${ZMQ_INCLUDE_DIRS})
set(EXECUTOR_SOURCES
src/plansys2_executor/ExecutorClient.cpp
src/plansys2_executor/ActionExecutor.cpp
src/plansys2_executor/ActionExecutorClient.cpp
src/plansys2_executor/ExecutorNode.cpp
src/plansys2_executor/BTBuilder.cpp
src/plansys2_executor/behavior_tree/execute_action_node.cpp
src/plansys2_executor/behavior_tree/wait_action_node.cpp
src/plansys2_executor/behavior_tree/wait_atstart_req_node.cpp
src/plansys2_executor/behavior_tree/check_overall_req_node.cpp
src/plansys2_executor/behavior_tree/check_atend_req_node.cpp
src/plansys2_executor/behavior_tree/check_timeout_node.cpp
src/plansys2_executor/behavior_tree/apply_atstart_effect_node.cpp
src/plansys2_executor/behavior_tree/apply_atend_effect_node.cpp
)
add_library(${PROJECT_NAME} SHARED ${EXECUTOR_SOURCES})
ament_target_dependencies(${PROJECT_NAME} ${dependencies})
target_link_libraries(${PROJECT_NAME} ${ZMQ_LIBRARIES})
add_executable(executor_node
src/executor_node.cpp
)
ament_target_dependencies(executor_node ${dependencies})
target_link_libraries(executor_node ${PROJECT_NAME})
install(DIRECTORY include/
DESTINATION include/
)
install(DIRECTORY launch behavior_trees DESTINATION share/${PROJECT_NAME})
install(TARGETS
${PROJECT_NAME}
executor_node
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
add_subdirectory(test)
endif()
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(${dependencies})
ament_package()
基于ROS2的规划系统设计与C++、Python多语言实现源码 （326个子文件） 
ExecutePlan.action 165B FindZMQ.cmake 3KB FindZMQ.cmake 3KB executor_test.cpp 61KB utils_test.cpp 35KB btbuilder_tests.cpp 30KB Utils.cpp 30KB terminal_test.cpp 29KB problem_expert_node_test.cpp 28KB ProblemExpertNode.cpp 27KB problem_expert_test.cpp 27KB BTBuilder.cpp 27KB Terminal.cpp 26KB ProblemExpertClient.cpp 25KB bt_node_test.cpp 22KB ExecutorNode.cpp 19KB types_test.cpp 17KB execution_tree_test.cpp 17KB ProblemExpert.cpp 16KB domain_expert_test.cpp 15KB bt_node_test_charging.cpp 15KB DomainExpertNode.cpp 14KB Utils.cpp 13KB test_3.cpp 13KB action_execution_test.cpp 12KB DomainExpertClient.cpp 11KB domain_reader_test.cpp 11KB DomainExpert.cpp 9KB bt_action_test.cpp 9KB ActionExecutor.cpp 7KB lifecycle_manager.cpp 7KB ActionExecutorClient.cpp 7KB ExecutorClient.cpp 7KB test_2.cpp 7KB test_1.cpp 7KB DomainReader.cpp 6KB popf_test.cpp 5KB lf_manager_test.cpp 5KB TemporalAction.cpp 5KB PlannerNode.cpp 5KB BTAction.cpp 5KB planner_test.cpp 4KB execution_logger.cpp 4KB popf_plan_solver.cpp 4KB domain_expert_node_test.cpp 4KB Action.cpp 3KB Expression.cpp 3KB Move.cpp 3KB plansys2_node.cpp 3KB FunctionModifier.cpp 3KB Utils.cpp 2KB check_timeout_node.cpp 2KB Ground.cpp 2KB PlannerClient.cpp 2KB GroundFunc.cpp 2KB lifecycle_manager_node.cpp 2KB execute_action_node.cpp 2KB wait_atstart_req_node.cpp 2KB TypeGround.cpp 2KB check_overall_req_node.cpp 2KB check_atend_req_node.cpp 2KB apply_atstart_effect_node.cpp 2KB apply_atend_effect_node.cpp 2KB utils_test.cpp 1KB CloseGripper.cpp 1KB Derived.cpp 1KB OpenGripper.cpp 1KB wait_action_node.cpp 1KB test_action_node.cpp 1KB And.cpp 1KB Forall.cpp 1KB Exists.cpp 1KB Not.cpp 1KB bt_action_node.cpp 1KB Or.cpp 1KB When.cpp 1KB problem_expert_node.cpp 920B domain_expert_node.cpp 917B executor_node.cpp 906B Oneof.cpp 903B planner_node.cpp 903B terminal_node.cpp 900B Lifted.cpp 886B Equals.cpp 865B Function.cpp 863B parser.cpp 779B ParamCond.cpp 495B .gitignore 13B Domain.h 19KB Instance.h 7KB Expression.h 6KB Utils.h 6KB Stringreader.h 5KB Type.h 3KB FunctionModifier.h 3KB Basic.h 3KB TemporalAction.h 2KB Action.h 2KB TokenStruct.h 2KB Condition.h 1KB共 326 条
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