cmake_minimum_required(VERSION 3.5)
project(go2py_node)

# 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()


include_directories(include include/common include/nlohmann)
link_directories(src)

set (
  DEPENDENCY_LIST
  unitree_go
  unitree_api
  rclcpp
  std_msgs
  rosbag2_cpp 
  sensor_msgs 
  geometry_msgs 
  nav_msgs 
  tf2 
  tf2_geometry_msgs
  tf2_ros
  tf2_sensor_msgs
)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(unitree_go REQUIRED)
find_package(unitree_go REQUIRED)
find_package(unitree_api REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)

add_executable(bridge src/bridge.cpp src/common/ros2_sport_client.cpp src/common/motor_crc.cpp)
ament_target_dependencies(bridge ${DEPENDENCY_LIST})


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


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()

ament_package()
