cmake_minimum_required(VERSION 3.8)
project(cpp_prococol)

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(cpp_prococol REQUIRED)
find_package(rclcpp_action REQUIRED)

find_package(rosidl_default_generators REQUIRED)

# 添加接口文件
rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/Position.srv"
  "action/MoveTo.action"
)

# 添加可执行文件
add_executable(cpp_pub_node src/cpp_pub_topic.cpp)
add_executable(cpp_sub_node src/cpp_sub_topic.cpp)
add_executable(cpp_server_service src/cpp_server_service.cpp)
add_executable(cpp_client_service src/cpp_client_service.cpp)
add_executable(cpp_server_action src/cpp_server_action.cpp)

# 链接对应的库
ament_target_dependencies(cpp_pub_node rclcpp std_msgs)
ament_target_dependencies(cpp_sub_node rclcpp std_msgs)
ament_target_dependencies(cpp_server_service rclcpp std_msgs cpp_prococol)
ament_target_dependencies(cpp_client_service rclcpp std_msgs cpp_prococol)
ament_target_dependencies(cpp_server_action rclcpp rclcpp_action cpp_prococol)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

install(
  TARGETS cpp_pub_node cpp_sub_node cpp_server_service cpp_client_service cpp_server_action
  DESTINATION lib/${PROJECT_NAME}
)

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


ament_package()
