CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(serial_link_action_client)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

# Compiler options for GCC and Clang
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# ROS2 packages
find_package(action_msgs REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(serial_link_interfaces REQUIRED)
find_package(std_msgs REQUIRED)

# Include directories
include_directories(include)


# Demo Client
add_executable(trajectory_tracking_client src/trajectory_tracking_client.cpp
                                          src/TrackCartesianTrajectory.cpp
                                          src/TrackJointTrajectory.cpp
                                          src/Utilities.cpp)
                                          
ament_target_dependencies(trajectory_tracking_client "action_msgs"
                                                     "ament_cmake"
                                                     "rclcpp"
                                                     "rclcpp_action"
                                                     "serial_link_interfaces"
                                                     "std_msgs")
                                     
# Installation
install(TARGETS trajectory_tracking_client
        DESTINATION lib/${PROJECT_NAME}
)

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

ament_package()