CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(mujoco_ros2)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

# Find dependencies
find_package(ament_cmake REQUIRED)                                                                  # So ROS2 can compile?
find_package(glfw3 REQUIRED)                                                                        # Graphics Library FrameWork
find_package(rclcpp REQUIRED)                                                                       # ROS2 C++ libraries
find_package(sensor_msgs REQUIRED)                                                                  # sensor_msgs::msg::JointState
find_package(std_msgs REQUIRED)                                                                     # std_msgs::msg::Float64MultiArray

# MuJoCo
set(MUJOCO_PATH "/opt/mujoco/mujoco-3.2.0") # UPDATE THIS TO YOUR MUJOCO PATH
include_directories(include)                                                                        # Local header files
include_directories(${MUJOCO_PATH}/include/mujoco)                                                  # MuJoCo header files
include_directories(${MUJOCO_PATH}/include)                                                         # Additional MuJoCo header files
link_directories(${MUJOCO_PATH}/lib)                                                                # Location of MuJoCo libraries

add_executable(mujoco_node src/executable.cpp src/MuJoCoNode.cpp)                                   # Define new executable, list source files
    
target_link_libraries(mujoco_node mujoco glfw)                                                      # Link GLFW libraries to the executable
                                     
ament_target_dependencies(mujoco_node rclcpp sensor_msgs std_msgs)                                  # List ROS2 dependencies for this executable

install(TARGETS mujoco_node
        DESTINATION lib/${PROJECT_NAME})                                                            # Install so ROS2 can find it

install(DIRECTORY config
                  launch
                  model
        DESTINATION share/${PROJECT_NAME})                                                          # Install so ROS2 can find them
        
ament_package()