better cmake

Author: facontidavide

.github/workflows/cmake_ubuntu.yml

@@ -44,7 +44,7 @@ jobs:
     - name: Configure CMake
       shell: bash
       working-directory: ${{github.workspace}}/build
-      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
 
     - name: Build
       shell: bash

.github/workflows/cmake_windows.yml

@@ -41,7 +41,7 @@ jobs:
     - name: Configure CMake
       shell: bash
       working-directory: ${{github.workspace}}/build
-      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+      run: cmake $GITHUB_WORKSPACE -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
 
     - name: Build
       working-directory: ${{github.workspace}}/build

CMakeLists.txt

@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 3.16.3) # version on Ubuntu Focal
 project(behaviortree_cpp)
 
+set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${CMAKE_CURRENT_LIST_DIR}/cmake")
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
+
 set(BTCPP_LIBRARY ${PROJECT_NAME})
 
 #---- Enable C++17 ----
@@ -29,6 +32,7 @@ option(BTCPP_SHARED_LIBS "Build shared libraries" ON)
 option(BTCPP_BUILD_TOOLS "Build commandline tools" ON)
 option(BTCPP_EXAMPLES   "Build tutorials and examples" ON)
 option(BTCPP_UNIT_TESTS "Build the unit tests" ON)
+option(BTCPP_GROOT_INTERFACE "Add Groot2 connection. Requires ZeroMQ" ON)
 
 option(USE_V3_COMPATIBLE_NAMES  "Use some alias to compile more easily old 3.x code" OFF)
 
@@ -116,13 +120,18 @@ list(APPEND BT_SOURCE
     src/loggers/bt_file_logger.cpp
     src/loggers/bt_minitrace_logger.cpp
     src/loggers/bt_observer.cpp
-    src/loggers/groot2_publisher.cpp
 
     3rdparty/tinyxml2/tinyxml2.cpp
     3rdparty/minitrace/minitrace.cpp
     )
 
 
+if(BTCPP_GROOT_INTERFACE)
+    # should be found already, at this stage
+    list(APPEND BT_SOURCE  src/loggers/groot2_publisher.cpp )
+endif()
+
+
 ######################################################
 
 if (UNIX)

README.md

@@ -65,15 +65,27 @@ Three build systems are supported:
 - **catkin**, if you use ROS
 - **colcon (ament)**, if you use ROS2
 - **conan** otherwise (Linux/Windows).
+- **straight cmake** if you want to be personal responsible for depndencies :)
 
 Compiling with [conan](https://conan.io/):
 
 Assuming that you are in the **parent** directory of `BehaviorTree.CPP`:
 
-    mkdir build; cd build
-    conan install ../BehaviorTree.CPP --output-folder=. --build=missing
-    cmake ../BehaviorTree.CPP
-    cmake --build . --parallel
+```
+mkdir build; cd build
+conan install ../BehaviorTree.CPP --output-folder=. --build=missing
+cmake ../BehaviorTree.CPP -DCMAKE_TOOLCHAIN_FILE=conan_toolchain.cmake
+cmake --build . --parallel
+```
+
+If you have dependencies such as ZeroMQ and SQlite already installed and you don't want to
+use conan, simply type:
+
+```
+mkdir build; cd build
+cmake ../BehaviorTree.CPP
+cmake --build . --parallel
+```
 
 If you want to use BT.CPP in your application, please refer to the
 example here: https://github.com/BehaviorTree/btcpp_sample .

cmake/ament_build.cmake

@@ -2,18 +2,15 @@
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${PROJECT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
 
-find_package(ZeroMQ)
-
-if(BTCPP_MANUAL_SELECTOR)
-    find_package(Curses REQUIRED)
+if(BTCPP_GROOT_INTERFACE)
+    find_package(ZeroMQ REQUIRED)
 endif()
 
 find_package(ament_index_cpp REQUIRED)
 
 set( BTCPP_EXTRA_LIBRARIES
     $<BUILD_INTERFACE:ament_index_cpp::ament_index_cpp>
     $<BUILD_INTERFACE:${ZeroMQ_LIBRARIES}>
-    ${CURSES_LIBRARIES}
 )
 
 ament_export_dependencies(ament_index_cpp)

cmake/catkin_build.cmake

@@ -2,12 +2,11 @@
 set(CMAKE_CONFIG_PATH ${CMAKE_MODULE_PATH}  "${PROJECT_SOURCE_DIR}/cmake")
 list(APPEND CMAKE_MODULE_PATH "${CMAKE_CONFIG_PATH}")
 
-find_package(ZeroMQ)
-
-if(BTCPP_MANUAL_SELECTOR)
-    find_package(Curses REQUIRED)
+if(BTCPP_GROOT_INTERFACE)
+    find_package(ZeroMQ REQUIRED)
 endif()
 
+
 find_package(catkin REQUIRED COMPONENTS roslib)
 
 catkin_package(
@@ -19,7 +18,6 @@ set(BTCPP_EXTRA_INCLUDE_DIRS ${catkin_INCLUDE_DIRS} )
 
 set( BTCPP_EXTRA_LIBRARIES
     ${catkin_LIBRARIES}
-    ${CURSES_LIBRARIES}
     ${ZeroMQ_LIBRARIES})
 
 set( BTCPP_LIB_DESTINATION     ${CATKIN_PACKAGE_LIB_DESTINATION} )

cmake/conan_build.cmake

@@ -1,7 +1,10 @@
 list(APPEND CMAKE_PREFIX_PATH "${CMAKE_BINARY_DIR}")
-find_package(ZeroMQ REQUIRED)
 
-set( BTCPP_EXTRA_LIBRARIES ${ZeroMQ_LIBRARIES})
+if(BTCPP_GROOT_INTERFACE)
+    find_package(ZeroMQ REQUIRED)
+    list(APPEND BTCPP_EXTRA_LIBRARIES ${ZeroMQ_LIBRARIES})
+    message(STATUS "ZeroMQ_LIBRARIES: ${ZeroMQ_LIBRARIES}")
+endif()
 
 set( BTCPP_LIB_DESTINATION     lib )
 set( BTCPP_INCLUDE_DESTINATION include )

conanfile.txt

@@ -5,3 +5,4 @@ sqlite3/3.40.1
 
 [generators]
 CMakeDeps
+CMakeToolchain