ROS2 Error with colcon build and BUILD_TESTING arg

edit

My ros2 version is Foxy on Ubuntu 20.04. Right now I am trying to build a package with colcon that takes in the BUILD_TESTING argument when I do not want tests. The error being output is:

No rule to make target '-DBUILD_TESTING=OFF', needed by 'takeoff_action_node'. Stop.

The command I run is: colcon build --symlink-install --cmake-args "-DBUILD_TESTING=OFF" --packages-select behavior_trees_ros2

Has anyone resolved this issue before? My CMakeLists.txt is below.

cmake_minimum_required(VERSION 3.5)
project(behavior_trees_ros2)

        # Default to C99
    if(NOT CMAKE_C_STANDARD)
      set(CMAKE_C_STANDARD 99)
    endif()

    # Default to C++17
    if(NOT CMAKE_CXX_STANDARD)
      set(CMAKE_CXX_STANDARD 17)
    endif()

    if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      add_compile_options(-Wall -Wextra -Wpedantic)
    endif()

    # find dependencies
    find_package(ament_cmake REQUIRED)
    find_package(rclcpp REQUIRED)
    find_package(rclcpp_action REQUIRED)
    find_package(companion_computing_interfaces REQUIRED)

    include_directories(
            include
            ${Boost_INCLUDE_DIR}
            ${companion_computing_interfaces_INCLUDE_DIRS}
    )

    add_subdirectory(libs)

    add_executable(takeoff_action_node
      examples/armtakeoff.cpp
      src/nuav_nodes/ArmTakeoff.cpp
    )

    target_include_directories(takeoff_action_node PUBLIC libs/behavior-trees/include)
    target_link_libraries(takeoff_action_node behavior_trees)

    add_executable(gotostatic_action_node
      examples/gotostatic.cpp
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/GotoStatic.cpp
    )

    target_include_directories(gotostatic_action_node PUBLIC libs/behavior-trees/include)
    target_link_libraries(gotostatic_action_node behavior_trees)

    add_executable(figure8_mission
      examples/figure8.cpp
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/GotoStatic.cpp
      src/nuav_nodes/Land.cpp
    )

    target_include_directories(figure8_mission PUBLIC libs/behavior-trees/include)
    target_link_libraries(figure8_mission behavior_trees)

    add_executable(analyze_exposure_mission
      examples/analyze_exposure.cpp
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/GotoStatic.cpp
      src/nuav_nodes/Land.cpp
      src/nuav_nodes/DecreaseExposure.cpp
    )

    target_include_directories(analyze_exposure_mission PUBLIC libs/behavior-trees/include)
    target_link_libraries(analyze_exposure_mission behavior_trees)

    add_executable(aruco_land_collect_mission
      examples/aruco_land_collection.cpp
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/Land.cpp
      src/nuav_nodes/DecreaseExposure.cpp
    )

    target_include_directories(aruco_land_collect_mission PUBLIC libs/behavior-trees/include)
    target_link_libraries(aruco_land_collect_mission behavior_trees)

    set(dependencies
      rclcpp
      rclcpp_action
      companion_computing_interfaces
    )

    set(${PROJECT_NAME}_SRCS
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/GotoStatic.cpp
      src/nuav_nodes/Land.cpp
      src/nuav_nodes/DecreaseExposure.cpp
      src/examples/main.cpp
    )
    add_library(${PROJECT_NAME} 
      src/nuav_nodes/ArmTakeoff.cpp
      src/nuav_nodes/GotoStatic.cpp
      src/nuav_nodes/Land.cpp
      src/nuav_nodes/DecreaseExposure.cpp
    )

    target_include_directories(${PROJECT_NAME} PUBLIC libs/behavior-trees/include)
    target_link_libraries(${PROJECT_NAME}  behavior_trees)

    ament_target_dependencies(takeoff_action_node ${dependencies})
    ament_target_dependencies(gotostatic_action_node ${dependencies})
    ament_target_dependencies(figure8_mission ${dependencies})
    ament_target_dependencies(analyze_exposure_mission ${dependencies})
    ament_target_dependencies(aruco_land_collect_mission ${dependencies})
    ament_target_dependencies(${PROJECT_NAME} ${dependencies})

    if(BUILD_TESTING)
      find_package(ament_lint_auto REQUIRED)
      # the following line skips the linter which checks for copyrights
      # uncomment the line when a copyright and license is not present in all source files
      #set(ament_cmake_copyright_FOUND TRUE)
      # the following line skips cpplint (only works in a git repo)
      # uncomment the line when this package is not in a git repo
      #set(ament_cmake_cpplint_FOUND TRUE)
      find_package(ament_cmake_gtest REQUIRED)
      find_package(ament_lint_auto REQUIRED)
      ament_lint_auto_find_test_dependencies()

      ament_add_gtest(test_nuav_nodes test/test_nuav_nodes.cpp)
      if(TARGET test_nuav_nodes)
        ament_target_dependencies(test_nuav_nodes
          ${dependencies}
        )
        target_link_libraries(test_nuav_nodes ${PROJECT_NAME})
      endif()
    endif()

    install(TARGETS
      takeoff_action_node
      gotostatic_action_node
      figure8_mission
      analyze_exposure_mission
      aruco_land_collect_mission
      DESTINATION lib/${PROJECT_NAME})

    ament_package()