cmake_minimum_required(VERSION 3.8)
project(toid_lidar)

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

# find dependencies
find_package(ament_cmake REQUIRED)

# set aditional dependencies
set(PACKAGE_DEPS
  rclcpp
  Eigen3
  nav2_util
  sensor_msgs
  tf2
  tf2_ros
  tf2_eigen
  tf2_geometry_msgs
  toid_msgs
  visualization_msgs
)

foreach(PACKAGE ${PACKAGE_DEPS})
  find_package(${PACKAGE} REQUIRED)
endforeach()

set(SOURCES
    src/toid_lidar.cpp
    src/toid_lidar_node.cpp
)

add_executable(toid_lidar ${SOURCES})

target_include_directories(
  toid_lidar
  PRIVATE
  include
)

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

ament_target_dependencies(toid_lidar ${PACKAGE_DEPS})

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

target_compile_features(
  toid_lidar PUBLIC
  c_std_99
  cxx_std_17
)

ament_package()