BehaviorTree.Ros2 编译教程

1. 源码下载

git clone https://github.com/BehaviorTree/BehaviorTree.ROS2.git

2. 编译过程

源码中有3个项目:

1. btcpp_ros2_interfaces
2. btcpp_ros2_interfaces
3. btcpp_ros2_samples

2.1 编译btcpp_ros2_interfaces:

colcon --packages-select btcpp_ros2_interfaces

2.2 编译 btcpp_ros2_interfaces

问题比较多

set(THIS_PACKAGE_DEPSrclcpprclcpp_actionament_index_cppbehaviortree_cppbtcpp_ros2_interfacesgenerate_parameter_library)

以上依赖包均有可能找不到,解决方法如下所示:

解决方案

下载安装 behaviortree_cpp

git clone https://github.com/BehaviorTree/BehaviorTree.CPP.git
cd BehaviorTree.CPP/
cmake ..
make -j12
sudo make install

安装generate-parameter-library

sudo apt install ros-${ROS_DISTRO}-generate-parameter-library

清华源ros配置

2.3 编译btcpp_ros2_samples

colcon build --packages-select btcpp_ros2_samples