cmake_minimum_required(VERSION 3.8)
cmake_policy(SET CMP0074 NEW)
project(rslidar_pointcloud_merger)

# 1. 默认开启 C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
    add_compile_options(-w)  # 禁用所有警告
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)

include_directories(
  include
  ${PCL_INCLUDE_DIRS}
)

add_executable(merge_two_lidars src/merge_two_lidars.cpp)
ament_target_dependencies(merge_two_lidars
  rclcpp sensor_msgs pcl_conversions pcl_ros
  tf2 tf2_ros tf2_sensor_msgs
)

target_link_libraries(merge_two_lidars ${PCL_LIBRARIES})

install(TARGETS merge_two_lidars
  DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY launch
  DESTINATION share/${PROJECT_NAME})

ament_package()