CMakeLists.txt

cmake_minimum_required(VERSION 3.15)
project(farmbot_controller)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
cmake_policy(SET CMP0074 NEW)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
include(FetchContent)


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

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

set(executables
  zeroturn
  # purepursuit
  # predictmod
)


find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(message_filters REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(farmbot_interfaces REQUIRED)

set(dependencies_ros
  rclcpp 
  std_msgs
  std_srvs
  nav_msgs
  geometry_msgs
  sensor_msgs
  tf2
  tf2_ros
  message_filters
  pcl_ros
  pcl_conversions
  farmbot_interfaces
)

find_package(Eigen3 REQUIRED)
include_directories(${Eigen_INCLUDE_DIRS})
link_directories(${Eigen_LIBRARY_DIRS})
add_definitions(${Eigen_DEFINITIONS})
find_package(fmt REQUIRED)
find_package(PCL REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

set(dependencies_sys
  fmt::fmt
  ${PCL_LIBRARIES}
  ${Eigen_LIBRARIES}
)

foreach(executable ${executables})
  add_executable(${executable} src/${executable}.cpp)
  ament_target_dependencies(${executable} ${dependencies_ros})
  target_link_libraries(${executable} ${dependencies_sys})
endforeach()


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


ament_package()