Rename package to behaviortree_cpp_picknik with versioned soname

[griswaldbrooks]

[written by AI]

Implements the rename decided for moveit_pro#20928 (decision record there; targets MoveIt Pro 10.0.0): this fork becomes behaviortree_cpp_picknik so stock upstream behaviortree_cpp can serve nav2 on the same system, ending the shared-name ABI collision that crashes bt_navigator on Jazzy.

What changes

• project()/package.xml → behaviortree_cpp_picknik; library, ament package, CMake config, and exported targets all follow.
• Versioned soname (approved by Josh Whitley): VERSION 4.7.2, SOVERSION 4.7 → libbehaviortree_cpp_picknik.so.4.7. Consumers stamp the versioned name into DT_NEEDED, so a future ABI-breaking rebase (e.g. the 4.9 merge, #17640 in moveit_pro) bumps the soname and stale binaries fail loudly at load instead of silently corrupting — the exact failure mode of moveit_pro#20928. Minor version bumps of this fork are treated as ABI breaks.
• Headers install under a package-scoped root (include/behaviortree_cpp_picknik/behaviortree_cpp/...), with the scoped root exported via ament_export_include_directories and INSTALL_INTERFACE. Consumers keep #include "behaviortree_cpp/..." unchanged, and the install no longer collides with stock's include/behaviortree_cpp/.
• tests/CMakeLists.txt: the shared tail hardcoded behaviortree_cpp_test while the ament branch derives ${BTCPP_LIBRARY}_test — the names only coincided before the rename; unified on the variable.
• Non-ament (conan) build path is behavior-identical: it defines the same BTCPP_INCLUDE_DESTINATION (plain include), which the INSTALL_INTERFACE now references.

Validation (ROS Jazzy container, colcon)

• Package builds clean under the new name; full test suite: 208 tests, 0 failures.
• Install layout verified: libbehaviortree_cpp_picknik.so → .so.4.7 → .so.4.7.2, SONAME libbehaviortree_cpp_picknik.so.4.7 (readelf), scoped headers, behaviortree_cpp_picknikConfig.cmake.
• Consumer smoke test: separate CMake project, find_package(behaviortree_cpp_picknik) + ament_target_dependencies, source includes behaviortree_cpp/bt_factory.h unchanged — compiles, links, ticks a tree successfully, and readelf -d shows NEEDED: libbehaviortree_cpp_picknik.so.4.7.

Notes / follow-ups

• The vendored lexy headers still install to unscoped include/lexy — no conflict with stock 4.9 (upstream removed lexy in 4.9), so left untouched to keep the diff minimal.
• After merge: apt_build_farm PR pins packages/behaviortree_cpp/package.json to the merged SHA with the renamed package (tracked under moveit_pro#20928), then the moveit_pro consumption switch (find_package in ~6 packages, Dockerfile unpin of stock, mixed-loading CI guard).

[coderabbitai]

📝 Walkthrough

Summary by CodeRabbit

• Compatibility

  • Added a build-time marker so downstream projects can distinguish the PickNik fork from upstream headers and detect potential ABI mismatches.

• Packaging

  • Renamed the package to behaviortree_cpp_picknik.
  • Improved installation layout for headers and exported include paths.
  • Added version information to the installed library for clearer compatibility tracking.

• Maintenance

  • Updated test target naming to align consistently with the configured library name.

Walkthrough

Summary

The project and package are renamed for the PickNik fork, installed headers use package-scoped paths, library versioning is configured, fork detection is exposed through a macro, and test targets use the library name.

Changes

PickNik packaging and build integration

Layer / File(s)	Summary
Package identity and fork detection CMakeLists.txt, package.xml, include/behaviortree_cpp/basic_types.h	The project and package names use behaviortree_cpp_picknik, and the public header defines BTCPP_PICKNIK_FORK.
Scoped include installation and export cmake/ament_build.cmake, CMakeLists.txt	Installed and exported include directories use include/${PROJECT_NAME} through BTCPP_INCLUDE_DESTINATION.
Library versioning and test target wiring CMakeLists.txt, tests/CMakeLists.txt	The library receives project version and soname properties, while non-ament test operations use ${BTCPP_LIBRARY}_test.

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Caution

Pre-merge checks failed

Please resolve all errors before merging. Addressing warnings is optional.

• Ignore (reviewers only)

❌ Failed checks (1 error)

Check name	Status	Explanation	Resolution
Human Review Check	❌ Error	The PR changes the public SDK surface: package/project and library names, exported CMake targets/config, installed include root, and shared-library SONAME.	This PR requires review by a requested human reviewer. After review, a non-author requested reviewer should override this pre-merge check.

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description check	✅ Passed	The description clearly explains the rename, rationale, implementation details, validation results, and follow-up work.
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.

✨ Finishing Touches 💡 1

🛠️ Fix failing CI checks 💡

• Fix failing CI checks

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