fix compilation with catkin

Author: Davide Faconti

CMakeLists.txt

@@ -13,7 +13,7 @@ if( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
 endif()
 
 if(catkin_FOUND)
-  find_package(catkin REQUIRED COMPONENTS behaviortree_cpp rosbag rosbag_storage roscpp)
+  find_package(catkin REQUIRED COMPONENTS behaviortree_cpp_v3 rosbag rosbag_storage roscpp)
 
   message(STATUS "------------------------------------------------")
   message(STATUS "BehaviourTreeEditor is being built using CATKIN.")
@@ -22,7 +22,7 @@ if(catkin_FOUND)
   catkin_package(
     INCLUDE_DIRS 
     LIBRARIES qt_node_editor
-    CATKIN_DEPENDS behaviortree_cpp
+    CATKIN_DEPENDS behaviortree_cpp_v3
     DEPENDS 
     )
 endif(catkin_FOUND)
@@ -50,8 +50,13 @@ add_subdirectory( QtNodeEditor )
 set(BUILD_EXAMPLES   OFF CACHE BOOL "")
 set(BUILD_UNIT_TESTS OFF CACHE BOOL "")
 set(BUILD_TOOLS OFF CACHE BOO "")
-add_subdirectory( depend/BehaviorTree.CPP )
-include_directories( depend/BehaviorTree.CPP/include )
+
+if(NOT catkin_FOUND)
+    # use git submodule only if you are not compiling with catkin
+    add_subdirectory( depend/BehaviorTree.CPP )
+    include_directories( depend/BehaviorTree.CPP/include )
+endif()
+
 ##########################################
 
 set(APP_CPPS
@@ -109,9 +114,9 @@ add_library(behavior_tree_editor
 )
 
 if( ZMQ_FOUND )
-    target_link_libraries(behavior_tree_editor QtNodeEditor zmq )
+    target_link_libraries(behavior_tree_editor QtNodeEditor zmq ${catkin_LIBRARIES})
 else()
-    target_link_libraries(behavior_tree_editor QtNodeEditor )
+    target_link_libraries(behavior_tree_editor QtNodeEditor ${catkin_LIBRARIES} )
 endif()
 
 

bt_editor/utils.h

@@ -7,8 +7,8 @@
 #include <nodes/NodeStyle>
 
 #include "bt_editor_base.h"
-#include <behaviortree_cpp/loggers/BT_logger_generated.h>
-#include <behaviortree_cpp/loggers/bt_flatbuffer_helper.h>
+#include <behaviortree_cpp/flatbuffers/BT_logger_generated.h>
+#include <behaviortree_cpp/flatbuffers/bt_flatbuffer_helper.h>
 
 QtNodes::Node* findRoot(const QtNodes::FlowScene &scene);
 

package.xml

@@ -15,11 +15,11 @@
 
     <build_depend>pluginlib</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>behaviortree_cpp</build_depend>
+    <build_depend>behaviortree_cpp_v3</build_depend>
 
     <run_depend>pluginlib</run_depend>
     <run_depend>roscpp</run_depend>
-    <run_depend>behaviortree_cpp</run_depend>
+    <run_depend>behaviortree_cpp_v3</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>