#!/bin/bash

# 检查是否在工作空间根目录
if [ ! -f "src/driver_pkg/CMakeLists.txt" ]; then
  echo "错误: 请在工作空间根目录运行此脚本"
  exit 1
fi

# 检查是否设置了ROS2环境
if [ -z "$ROS_DISTRO" ]; then
  echo "错误: 未设置ROS2环境变量，请先运行: source /opt/ros/<distro>/setup.bash"
  exit 1
fi

# 创建编译目录
mkdir -p build install log

# 编译项目
echo "开始编译项目..."
colcon build --packages-select \
  driver_pkg \
  perception_pkg \
  decision_pkg \
  control_pkg \
  interaction_pkg

# 检查编译是否成功
if [ $? -eq 0 ]; then
  echo "编译成功！"
  echo "请运行以下命令设置环境:"
  echo "  source install/setup.bash"
else
  echo "编译失败，请检查错误信息。"
fi