WIP

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.16)
+project(behaviortree_ros2)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+######################################################
+
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+    rclcpp
+    rclcpp_action
+    ament_index_cpp
+    behaviortree_cpp_v3)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED )
+find_package(rclcpp_action REQUIRED )
+find_package(behaviortree_cpp_v3 REQUIRED )
+find_package(ament_index_cpp REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "action/Sleep.action"
+)
+
+
+######################################################
+
+######################################################
+# TESTS
+
+add_executable(sleep_server test/sleep_server.cpp)
+target_include_directories(sleep_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(sleep_server
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+rosidl_target_interfaces(sleep_server ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+
+add_executable(test_client test/test_client.cpp)
+target_include_directories(test_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(test_client
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+rosidl_target_interfaces(test_client ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+
+#add_executable(test_server test/test_server.cpp)
+#add_dependencies(test_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+#target_link_libraries(test_server ${catkin_LIBRARIES} )
+
+######################################################
+# INSTALL
+
+install(TARGETS
+  sleep_server
+  test_client
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  )
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+######################################################
+
+ament_export_include_directories(include)
+
+ament_package()
+
+

action/Sleep.action

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+#goal definition
+int32 msec_timeout
+---
+#result definition
+bool done
+---
+#feedback
+int32 cycle