cmake_minimum_required(VERSION 3.5)
project(rtk_asensing)

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

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
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(std_msgs REQUIRED)
find_package(sweeper_interfaces REQUIRED)
find_package(logger REQUIRED)
find_package(imu_msgs REQUIRED)

include_directories(include/rtk_asensing)

add_executable(rtk_asensing_node src/rtk_asensing_node.cpp)
ament_target_dependencies(
  rtk_asensing_node
  rclcpp
  std_msgs
  sweeper_interfaces
  logger
  imu_msgs)

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

# 安装配置文件和启动文件
install(DIRECTORY config launch DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()