Enablign Humble use with a backported version of BT navigator to enable plugin navigator use

Author: SteveMacenski

backported_bt_navigator/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(backported_bt_navigator)
+
+find_package(ament_cmake REQUIRED)
+find_package(nav2_common REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav2_behavior_tree REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(nav2_msgs REQUIRED)
+find_package(behaviortree_cpp_v3 REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(nav2_util REQUIRED)
+find_package(nav2_core REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(pluginlib REQUIRED)
+
+nav2_package()
+
+include_directories(
+  include
+)
+
+set(executable_name bt_navigator)
+
+add_executable(${executable_name}
+  src/main.cpp
+)
+
+set(library_name ${executable_name}_core)
+
+set(dependencies
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  rclcpp_components
+  std_msgs
+  geometry_msgs
+  nav2_behavior_tree
+  nav_msgs
+  nav2_msgs
+  behaviortree_cpp_v3
+  std_srvs
+  nav2_util
+  nav2_core
+  tf2_ros
+  pluginlib
+)
+
+add_library(${library_name} SHARED
+  src/bt_navigator.cpp
+)
+
+ament_target_dependencies(${executable_name}
+  ${dependencies}
+)
+
+target_link_libraries(${executable_name} ${library_name})
+
+ament_target_dependencies(${library_name}
+  ${dependencies}
+)
+
+add_library(nav2_navigate_to_pose_navigator SHARED src/navigators/navigate_to_pose.cpp)
+ament_target_dependencies(nav2_navigate_to_pose_navigator ${dependencies})
+target_compile_definitions(nav2_navigate_to_pose_navigator PRIVATE BT_PLUGIN_EXPORT)
+
+add_library(nav2_navigate_through_poses SHARED src/navigators/navigate_through_poses.cpp)
+ament_target_dependencies(nav2_navigate_through_poses ${dependencies})
+target_compile_definitions(nav2_navigate_through_poses PRIVATE BT_PLUGIN_EXPORT)
+
+pluginlib_export_plugin_description_file(backported_bt_navigator navigator_plugins.xml)
+rclcpp_components_register_nodes(${library_name} "backported_bt_navigator::BtNavigator")
+
+install(TARGETS ${library_name} nav2_navigate_to_pose_navigator nav2_navigate_through_poses
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(TARGETS ${executable_name}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY include/
+  DESTINATION include/
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${library_name} nav2_navigate_to_pose_navigator nav2_navigate_through_poses)
+ament_export_dependencies(${dependencies})
+ament_package()

backported_bt_navigator/README.md

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+# BT Navigator
+
+## Modified for Bonsai Robotics for Humble
+
+This is a fork of the BT Navigator to enable navigator plugins for Humble which is an ABI breaking change. Once upgrading to Iron or newer, this is no longer required and you should revert back to the Nav2 BT Navigator version to obtain updates and bug fixes. This is required to use the CoverageNavigator plugin type on a temporary basis.
+
+See Nav2 docs for relevent information.