cmake_minimum_required(VERSION 3.8)
project(driver_pkg)

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)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(serial_driver REQUIRED)
find_package(cv_bridge REQUIRED)

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()

# 添加电机驱动可执行文件
add_executable(motor_driver_node src/motor_driver_node.cpp)
ament_target_dependencies(motor_driver_node 
  rclcpp 
  geometry_msgs 
  sensor_msgs
  serial_driver
  OpenCV       # 添加OpenCV依赖
  cv_bridge    # 添加cv_bridge依赖
)

# 添加激光雷达驱动可执行文件
add_executable(lidar_driver_node src/lidar_driver_node.cpp)
ament_target_dependencies(lidar_driver_node 
  rclcpp 
  sensor_msgs
  serial_driver
)

# 添加相机驱动可执行文件
add_executable(camera_driver_node src/camera_driver_node.cpp)
ament_target_dependencies(camera_driver_node 
  rclcpp 
  sensor_msgs
  serial_driver
  OpenCV       # 添加OpenCV依赖
  cv_bridge    # 添加cv_bridge依赖
)

# 安装可执行文件
install(TARGETS
  motor_driver_node
  lidar_driver_node
  camera_driver_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()
