fixes

Author: davide

btcpp_ros2_interfaces/CMakeLists.txt

@@ -7,7 +7,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
-rosidl_generate_interfaces(sleep_interface
+rosidl_generate_interfaces(btcpp_ros2_interfaces
     "action/Sleep.action")
 
 ament_export_dependencies(rosidl_default_runtime)

btcpp_ros2_interfaces/package.xml

@@ -9,10 +9,15 @@
   <license>MIT</license>
   <author>Davide Faconti</author>
 
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
   <depend>action_msgs</depend>
+
   <member_of_group>rosidl_interface_packages</member_of_group>
 
 <export>

btcpp_ros2_samples/CMakeLists.txt

@@ -6,25 +6,19 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_action REQUIRED)
 find_package(behaviortree_ros2 REQUIRED)
 find_package(btcpp_ros2_interfaces REQUIRED)
 
 set(THIS_PACKAGE_DEPS 
-    rclcpp
-    rclcpp_action
     behaviortree_ros2
     btcpp_ros2_interfaces )
 
 ######################################################
 # Build a client that call the sleep action (STATIC version)
 
-add_library(sleep_static STATIC src/sleep_action.cpp)
-ament_target_dependencies(sleep_static ${THIS_PACKAGE_DEPS}) 
-
-add_executable(sleep_client src/sleep_client.cpp)
-target_link_libraries(sleep_client sleep_static )
+add_executable(sleep_client 
+  src/sleep_action.cpp
+  src/sleep_client.cpp)
 ament_target_dependencies(sleep_client ${THIS_PACKAGE_DEPS})
 
 ######################################################
@@ -48,10 +42,10 @@ ament_target_dependencies(sleep_server ${THIS_PACKAGE_DEPS})
 # INSTALL
 
 install(TARGETS
-  # sleep_client
-  # sleep_client_dyn
+  sleep_client
+  sleep_client_dyn
   sleep_server
-  # sleep_plugin
+  sleep_plugin
   DESTINATION lib/${PROJECT_NAME}
   )
 

btcpp_ros2_samples/package.xml

@@ -11,8 +11,6 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
-  <depend>rclcpp_action</depend>
   <depend>behaviortree_ros2</depend>
   <depend>btcpp_ros2_interfaces</depend>
 

btcpp_ros2_samples/src/sleep_client.cpp

@@ -45,11 +45,11 @@ class PrintValue : public BT::SyncActionNode
      <BehaviorTree>
         <Sequence>
             <PrintValue message="start"/>
-            <Sleep name="sleepA" msec="2000"/>
+            <SleepAction name="sleepA" msec="2000"/>
             <PrintValue message="sleep completed"/>
             <Fallback>
                 <Timeout msec="1500">
-                   <Sleep name="sleepB" server_name="sleep_service" msec="2000"/>
+                   <SleepAction name="sleepB" action_name="sleep_service" msec="2000"/>
                 </Timeout>
                 <PrintValue message="sleep aborted"/>
             </Fallback>
@@ -74,7 +74,7 @@ int main(int argc, char **argv)
 #ifdef USE_SLEEP_PLUGIN
   RegisterRosNode(factory, "../lib/libsleep_action_plugin.so", params);
 #else
-  factory.registerNodeType<SleepAction>("Sleep", params);
+  factory.registerNodeType<SleepAction>("SleepAction", params);
 #endif
 
   auto tree = factory.createTreeFromText(xml_text);