cmake_minimum_required(VERSION 3.8)
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE "Debug")
endif()
project(recharge)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# 设置C++标准
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -g -O0 -DDEBUG")
set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(interface REQUIRED)
find_package(nav_msgs REQUIRED)

include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include
)

# 创建可执行文件
add_executable(recharge_node
  src/main.cpp
  src/recharge.cpp
)
ament_target_dependencies(
  recharge_node
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  visualization_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  interface
)
# 链接库
target_include_directories(recharge_node PRIVATE
    ${Eigen3_INCLUDE_DIRS}
    ${CMAKE_CURRENT_SOURCE_DIR}/include
)

target_compile_options(recharge_node PRIVATE
    $<$<CONFIG:Debug>:-g -O0>
    $<$<CONFIG:Release>:-O3>
)

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

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()