cmake_minimum_required(VERSION 3.8)
project(control_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(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(trajectory_msgs REQUIRED)
find_package(control_msgs REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros 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()

# 添加可执行文件
add_executable(arm_controller_node src/arm_controller.cpp)
ament_target_dependencies(arm_controller_node 
  rclcpp 
  sensor_msgs
  trajectory_msgs
  control_msgs
  rclcpp_action
  nav_msgs
  tf2        # 添加TF2依赖
  tf2_ros    # 添加TF2 ROS依赖
)

# 添加可执行文件
add_executable(base_controller_node src/base_controller.cpp)
ament_target_dependencies(base_controller_node 
  rclcpp 
  sensor_msgs
  nav_msgs
  tf2        # 添加TF2依赖
  tf2_ros    # 添加TF2 ROS依赖
)

# 安装可执行文件
install(TARGETS
  arm_controller_node
  base_controller_node
  DESTINATION lib/${PROJECT_NAME})

ament_package()
