remove support for catkin

Author: facontidavide

.github/workflows/ros1.yaml

@@ -82,15 +82,6 @@ if ( ament_cmake_FOUND )
     message(STATUS "BehaviorTree is being built using AMENT.")
     message(STATUS "------------------------------------------")
     include(cmake/ament_build.cmake)
-
-elseif( CATKIN_DEVEL_PREFIX OR CATKIN_BUILD_BINARY_PACKAGE)
-
-    add_definitions( -DUSING_ROS )
-    message(STATUS "------------------------------------------")
-    message(STATUS "BehaviorTree is being built using CATKIN.")
-    message(STATUS "------------------------------------------")
-    include(cmake/catkin_build.cmake)
-    set(catkin_FOUND TRUE)
 else()
     message(STATUS "------------------------------------------")
     message(STATUS "BehaviorTree is being built with conan.")

CMakeLists.txt

@@ -55,7 +55,6 @@ If you are looking for a more fancy graphical user interface (and I know you do)
 
 Three build systems are supported:
 
-- **catkin**, if you use ROS
 - **colcon (ament)**, if you use ROS2
 - **conan** otherwise (Linux/Windows).
 - **straight cmake** if you want to be personally responsible for dependencies :)

README.md

@@ -281,7 +281,7 @@ class BehaviorTreeFactory
      * @throws If not compiled with ROS support or if the library cannot load for any reason
      *
      */
-  void registerFromROSPlugins();
+  [[deprecated]] void registerFromROSPlugins();
 
   /**
      * @brief registerBehaviorTreeFromFile.

cmake/catkin_build.cmake

@@ -14,8 +14,6 @@
 
   <build_depend>ros_environment</build_depend>
 
-  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <depend condition="$ROS_VERSION == 1">roslib</depend>
 
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
   <depend condition="$ROS_VERSION == 2">rclcpp</depend>
@@ -27,7 +25,6 @@
   <test_depend condition="$ROS_VERSION == 2">ament_cmake_gtest</test_depend>
 
   <export>
-      <build_type condition="$ROS_VERSION == 1">catkin</build_type>
       <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
   </export>
 

include/behaviortree_cpp/bt_factory.h

@@ -17,10 +17,6 @@
 #include "behaviortree_cpp/xml_parsing.h"
 #include "wildcards/wildcards.hpp"
 
-#ifdef USING_ROS
-#include <ros/package.h>
-#endif
-
 namespace BT
 {
 
@@ -196,66 +192,12 @@ void BehaviorTreeFactory::registerFromPlugin(const std::string& file_path)
   }
 }
 
-#ifdef USING_ROS
-
-#ifdef _WIN32
-const char os_pathsep(';');  // NOLINT
-#else
-const char os_pathsep(':');  // NOLINT
-#endif
-
-// This function is a copy from the one in class_loader_imp.hpp in ROS pluginlib
-// package, licensed under BSD.
-// https://github.com/ros/pluginlib
-std::vector<std::string> getCatkinLibraryPaths()
-{
-  std::vector<std::string> lib_paths;
-  const char* env = std::getenv("CMAKE_PREFIX_PATH");
-  if(env)
-  {
-    const std::string env_catkin_prefix_paths(env);
-    std::vector<BT::StringView> catkin_prefix_paths =
-        splitString(env_catkin_prefix_paths, os_pathsep);
-    for(BT::StringView catkin_prefix_path : catkin_prefix_paths)
-    {
-      std::filesystem::path path(static_cast<std::string>(catkin_prefix_path));
-      std::filesystem::path lib("lib");
-      lib_paths.push_back((path / lib).string());
-    }
-  }
-  return lib_paths;
-}
-
-void BehaviorTreeFactory::registerFromROSPlugins()
-{
-  std::vector<std::string> plugins;
-  ros::package::getPlugins("behaviortree_cpp", "bt_lib_plugin", plugins, true);
-  std::vector<std::string> catkin_lib_paths = getCatkinLibraryPaths();
-
-  for(const auto& plugin : plugins)
-  {
-    auto filename = std::filesystem::path(plugin + BT::SharedLibrary::suffix());
-    for(const auto& lib_path : catkin_lib_paths)
-    {
-      const auto full_path = std::filesystem::path(lib_path) / filename;
-      if(std::filesystem::exists(full_path))
-      {
-        std::cout << "Registering ROS plugins from " << full_path.string() << std::endl;
-        registerFromPlugin(full_path.string());
-        break;
-      }
-    }
-  }
-}
-#else
-
 void BehaviorTreeFactory::registerFromROSPlugins()
 {
   throw RuntimeError("Using attribute [ros_pkg] in <include>, but this library was "
                      "compiled without ROS support. Recompile the BehaviorTree.CPP "
                      "using catkin");
 }
-#endif
 
 void BehaviorTreeFactory::registerBehaviorTreeFromFile(
     const std::filesystem::path& filename)

package.xml

@@ -36,10 +36,6 @@
 #include "tinyxml2/tinyxml2.h"
 #include <filesystem>
 
-#ifdef USING_ROS
-#include <ros/package.h>
-#endif
-
 #ifdef USING_ROS2
 #include <ament_index_cpp/get_package_share_directory.hpp>
 #endif
@@ -283,9 +279,7 @@ void XMLParser::PImpl::loadDocImpl(XMLDocument* doc, bool add_includes)
       else
       {
         std::string ros_pkg_path;
-#ifdef USING_ROS
-        ros_pkg_path = ros::package::getPath(ros_pkg_relative_path);
-#elif defined USING_ROS2
+#if defined USING_ROS2
         ros_pkg_path =
             ament_index_cpp::get_package_share_directory(ros_pkg_relative_path);
 #else

src/bt_factory.cpp

@@ -33,44 +33,27 @@ set(BT_TESTS
   test_helper.hpp
 )
 
-set(TEST_DEPENDENCIES
-    ${BTCPP_LIBRARY}
-    foonathan::lexy
-    bt_sample_nodes)
-
 if(ament_cmake_FOUND)
 
     find_package(ament_cmake_gtest REQUIRED)
 
     ament_add_gtest(behaviortree_cpp_test ${BT_TESTS})
-    target_link_libraries(behaviortree_cpp_test
-        ${TEST_DEPENDECIES}
-        ${ament_LIBRARIES})
-
-elseif(catkin_FOUND AND CATKIN_ENABLE_TESTING)
-
-    catkin_add_gtest(behaviortree_cpp_test ${BT_TESTS})
-    target_link_libraries(behaviortree_cpp_test
-        ${TEST_DEPENDECIES}
-        Threads::Threads
-        ${catkin_LIBRARIES})
+    target_link_libraries(behaviortree_cpp_test ${ament_LIBRARIES})
 
 else()
 
     find_package(GTest REQUIRED)
 
     enable_testing()
-
     add_executable(behaviortree_cpp_test ${BT_TESTS})
-
     add_test(NAME btcpp_test COMMAND behaviortree_cpp_test)
 
     target_link_libraries(behaviortree_cpp_test
-        ${TEST_DEPENDENCIES}
         GTest::gtest
         GTest::gtest_main)
 
 endif()
 
+target_link_libraries(behaviortree_cpp_test ${BTCPP_LIBRARY} bt_sample_nodes)
 target_include_directories(behaviortree_cpp_test PRIVATE include ${PROJECT_SOURCE_DIR}/3rdparty)
 target_compile_definitions(behaviortree_cpp_test PRIVATE BT_TEST_FOLDER="${CMAKE_CURRENT_SOURCE_DIR}")