cmake_minimum_required(VERSION 3.5)
project(nav680_ros2)

# 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(sensor_msgs REQUIRED)

 find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)


rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Nav.msg"
  DEPENDENCIES std_msgs builtin_interfaces
  DEPENDENCIES geometry_msgs # 添加以上自定义依赖的ros包, 这里的Sphere.msg使用了geometry_msgs
)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

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)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(talker src/serial_port.cpp src/serial_parse.cpp)
ament_target_dependencies(talker rclcpp std_msgs sensor_msgs)

add_executable(listener src/sub_spec.cpp)
ament_target_dependencies(listener rclcpp std_msgs sensor_msgs)
rosidl_target_interfaces(talker ${PROJECT_NAME} "rosidl_typesupport_cpp")
ament_target_dependencies(listener rclcpp std_msgs sensor_msgs)
rosidl_target_interfaces(listener ${PROJECT_NAME} "rosidl_typesupport_cpp")
install(TARGETS talker listener  DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY
  config/
  DESTINATION share/${PROJECT_NAME}/config
)

ament_package()
