cmake_minimum_required(VERSION 3.8)
project(virtual_robot_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(virtual_robot_prococol REQUIRED)
find_package(std_srvs REQUIRED)
find_package(rclcpp_action REQUIRED)


#添加可执行文件
add_executable(robot_status src/robot_status.cpp)
add_executable(robot_control src/robot_control.cpp)

# 链接开发库
ament_target_dependencies(robot_status rclcpp virtual_robot_prococol std_srvs rclcpp_action)
ament_target_dependencies(robot_control rclcpp virtual_robot_prococol std_srvs rclcpp_action)


# 增加自定义接口包
find_package(rosidl_default_generators REQUIRED)
# 添加接口生成
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/RobotStatus.msg"
  "msg/RobotCommand.msg"
  "action/TargetPosition.action"
)


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 robot_status robot_control
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()