cmake_minimum_required(VERSION 3.5)
project(unitree_lidar_ros2)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

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

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(sensor_msgs REQUIRED)

include_directories(
  ${PCL_INCLUDE_DIRS} 
  include
  ../unitree_lidar_sdk/include
)

link_directories(
  ${PCL_LIBRARY_DIRS}
  ../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
)

add_definitions(${PCL_DEFINITIONS})

add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)

target_link_libraries( unitree_lidar_ros2_node
  ${Boost_SYSTEM_LIBRARY}
  ${PCL_LIBRARIES}
  unilidar_sdk2
)

ament_target_dependencies(
  unitree_lidar_ros2_node
  rclcpp std_msgs 
  sensor_msgs
  geometry_msgs 
  tf2_ros
  pcl_conversions
)

install(TARGETS
unitree_lidar_ros2_node
  DESTINATION lib/${PROJECT_NAME}
)

# install rviz file and launch file
install(DIRECTORY launch/
  DESTINATION share/${PROJECT_NAME}/launch
)

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

# install config files if they exist
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
  install(DIRECTORY config/
    DESTINATION share/${PROJECT_NAME}/config
  )
endif()

ament_package()