CMakeLists.txt

cmake_minimum_required(VERSION 3.8)

###############
# project name
project(robocon2024-1)

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(rosidl_default_generators REQUIRED)

###############
# Add Serialbridge
set(SERIAL_BRIDGE_DIR "${CMAKE_SOURCE_DIR}/SerialBridge")
find_library(SERIAL_BRIDGE_LIB NAMES SerialBridge PATHS "${SERIAL_BRIDGE_DIR}/bin")

###############
# include custom header files
include_directories(
  include
  include/${PROJECT_NAME}
)

###############
# Add ROS nodes
set(node_list subscriber_new pan_tilt_node subscriber_new_new subscriber_robo2 subscriber_robo3)

foreach(node ${node_list})
  add_executable(${node} src/${node}.cpp)
  ament_target_dependencies(${node} rclcpp std_msgs sensor_msgs geometry_msgs)
  target_include_directories(${node} PRIVATE
    "${SERIAL_BRIDGE_DIR}/src"
    "${rclcpp_INCLUDE_DIRS}"
    "${std_msgs_INCLUDE_DIRS}"
  )
  target_link_libraries(${node}
    "${SERIAL_BRIDGE_LIB}"
    "${rclcpp_LIBRARIES}"
    "${std_msgs_LIBRARIES}"
  )
endforeach()


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

###############

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

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()