cmake_minimum_required(VERSION 3.5)
project(can_orientation)

# 查找必要的包
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

# 添加可执行文件
add_executable(can_orientation_node src/ahrs.cpp)

# 添加依赖
ament_target_dependencies(can_orientation_node 
  rclcpp 
  sensor_msgs
  std_msgs
  tf2
  tf2_ros
)

# 安装目标
install(TARGETS can_orientation_node
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()
