From 966d401c4d9c50a9c06967da518fbab2baba5b64 Mon Sep 17 00:00:00 2001
From: Tarun Chintalapati <tchintalapati@dekaresearch.com>
Date: Mon, 5 Aug 2024 18:09:55 -0400
Subject: [PATCH 1/3] feat: added a new cmake_build for generating a debian
---
cmake/cmake_build.cmake | 64 +++++++++++++++++++++++++++++++++++++++++
1 file changed, 64 insertions(+)
create mode 100644 cmake/cmake_build.cmake
diff --git a/cmake/cmake_build.cmake b/cmake/cmake_build.cmake
new file mode 100644
index 000000000..ee9410a22
--- /dev/null
+++ b/cmake/cmake_build.cmake
@@ -0,0 +1,64 @@
+
+if(BTCPP_GROOT_INTERFACE)
+ find_package(ZeroMQ REQUIRED)
+ list(APPEND BTCPP_EXTRA_LIBRARIES ${ZeroMQ_LIBRARIES})
+ list(APPEND BTCPP_EXTRA_INCLUDE_DIRS ${ZeroMQ_INCLUDE_DIRS})
+ message(STATUS "ZeroMQ_LIBRARIES: ${ZeroMQ_LIBRARIES}")
+endif()
+
+if(BTCPP_SQLITE_LOGGING)
+ find_package(SQLite3 REQUIRED)
+ list(APPEND BTCPP_EXTRA_LIBRARIES ${SQLite3_LIBRARIES})
+ message(STATUS "SQLite3_LIBRARIES: ${SQLite3_LIBRARIES}")
+endif()
+
+
+set( BTCPP_LIB_DESTINATION lib )
+set( BTCPP_INCLUDE_DESTINATION include )
+set( BTCPP_BIN_DESTINATION bin )
+set( BTCPP_CMAKE_DESTINATION ${CMAKE_INSTALL_PREFIX}/share )
+
+# CPack configuration
+set( CPACK_GENERATOR "DEB" )
+set( CPACK_PACKAGE_NAME "behaviortree-cpp" )
+set( CPACK_PACKAGE_VERSION ${PROJECT_VERSION} )
+set( CPACK_PACKAGE_DESCRIPTION "BehaviorTree.CPP library" )
+set( CPACK_PACKAGE_HOMEPAGE_URL "https://github.com/BehaviorTree/BehaviorTree.CPP" )
+set( CPACK_DEBIAN_PACKAGE_DEPENDS "libstdc++6, libc6, libzmq3-dev, libsqlite3-dev" )
+set( CPACK_DEBIAN_PACKAGE_SECTION "devel" )
+set( CPACK_DEBIAN_PACKAGE_PRIORITY "optional" )
+set( CPACK_PACKAGE_CONTACT "example <example@example.com>" )
+set( CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON )
+
+include(CPack)
+
+mark_as_advanced(
+ BTCPP_EXTRA_LIBRARIES
+ BTCPP_LIB_DESTINATION
+ BTCPP_INCLUDE_DESTINATION
+ BTCPP_BIN_DESTINATION )
+
+macro(export_btcpp_package)
+
+ install(EXPORT ${PROJECT_NAME}Targets
+ FILE "${PROJECT_NAME}Targets.cmake"
+ DESTINATION "${BTCPP_CMAKE_DESTINATION}/cmake/${PROJECT_NAME}"
+ NAMESPACE BT::
+ )
+ export(PACKAGE ${PROJECT_NAME})
+
+ include(CMakePackageConfigHelpers)
+
+ configure_package_config_file(
+ "${PROJECT_SOURCE_DIR}/cmake/Config.cmake.in"
+ "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+ INSTALL_DESTINATION "${BTCPP_CMAKE_DESTINATION}/cmake/${PROJECT_NAME}"
+ )
+
+ install(
+ FILES
+ "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+ DESTINATION "${BTCPP_CMAKE_DESTINATION}/cmake/${PROJECT_NAME}"
+ )
+endmacro()
+
\ No newline at end of file
From 2674caa80f8da57796c13695d427ecc9aecc21f4 Mon Sep 17 00:00:00 2001
From: Tarun Chintalapati <tchintalapati@dekaresearch.com>
Date: Mon, 5 Aug 2024 18:13:24 -0400
Subject: [PATCH 2/3] feat: updated documentation for creating and installing a
debian
---
README.md | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/README.md b/README.md
index cd8e3371a..15a296598 100644
--- a/README.md
+++ b/README.md
@@ -84,6 +84,18 @@ If you want to build in a [pixi](https://pixi.sh/) project (conda virtual enviro
```
pixi run build
```
+If you want to generate a standalone behaviortree_cpp debian that you can install and link your project against,
+- Clone the BehaviorTreee.CPP repo
+- cd into the cloned repo
+- run the following commands:
+```
+cmake -S . -B build -DCMAKE_BUILD=ON
+cmake --build build/ -j{Number_of_cores} --target package
+```
+Replace {Number_of_cores} with how many cores you would like to use to build.
+
+- If built succesfully, it should generate a ```.deb``` file inside the build folder.
+- You can install this debian in any container or environment using ```apt install /path/to/.deb```
If you want to use BT.CPP in your application, please refer to the
example here: https://github.com/BehaviorTree/btcpp_sample .
From db4b472fc5df5444070b78fe37ce99fa7e181d29 Mon Sep 17 00:00:00 2001
From: Tarun Chintalapati <tchintalapati@dekaresearch.com>
Date: Mon, 5 Aug 2024 18:14:32 -0400
Subject: [PATCH 3/3] feat: Added CMake build as an option when building
---
CMakeLists.txt | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9b6d1ebaa..bb9bd722e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -30,6 +30,7 @@ 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(BTCPP_SQLITE_LOGGING "Add SQLite logging." ON)
+option(CMAKE_BUILD "Build using CMAKE" OFF)
option(USE_V3_COMPATIBLE_NAMES "Use some alias to compile more easily old 3.x code" OFF)
@@ -67,6 +68,14 @@ elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
message(STATUS "------------------------------------------")
include(cmake/catkin_build.cmake)
set(catkin_FOUND TRUE)
+
+elseif( CMAKE_BUILD )
+
+ message(STATUS "------------------------------------------")
+ message(STATUS "BehaviourTree is being built using CMAKE.")
+ message(STATUS "------------------------------------------")
+ include(cmake/cmake_build.cmake)
+
else()
message(STATUS "------------------------------------------")
message(STATUS "BehaviourTree is being built with conan.")
@@ -216,6 +225,12 @@ if(BTCPP_EXAMPLES)
add_subdirectory(examples)
endif()
+if( CMAKE_BUILD )
+ message(STATUS "Ensuring everything gets installed into '/usr/local/' as the Lord intended")
+ set(BTCPP_LIB_DESTINATION ${CMAKE_INSTALL_PREFIX}/${BTCPP_LIB_DESTINATION})
+ set(BTCPP_INCLUDE_DESTINATION ${CMAKE_INSTALL_PREFIX}/${BTCPP_INCLUDE_DESTINATION})
+endif()
+
######################################################
# INSTALL
@@ -231,4 +246,4 @@ INSTALL( DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/include/
DESTINATION ${BTCPP_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h*")
-export_btcpp_package()
+export_btcpp_package()
\ No newline at end of file