1. 源碼下載

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

2. 編譯過程

源碼中有3個項目:

1. btcpp_ros2_interfaces
2. btcpp_ros2_interfaces
3. btcpp_ros2_samples

2.1 編譯btcpp_ros2_interfaces:

colcon --packages-select btcpp_ros2_interfaces

2.2 編譯 btcpp_ros2_interfaces

問題比較多

set(THIS_PACKAGE_DEPSrclcpprclcpp_actionament_index_cppbehaviortree_cppbtcpp_ros2_interfacesgenerate_parameter_library)

以上依賴包均有可能找不到,解決方法如下所示:

解決方案

下載安裝 behaviortree_cpp

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

安裝generate-parameter-library

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

清華源ros配置

2.3 編譯btcpp_ros2_samples

colcon build --packages-select btcpp_ros2_samples