cmake_minimum_required(VERSION 3.5)
project(wall_follower_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 14)
endif()

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)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# obstacle avoidance
add_executable(wall_follower_ros2 src/wall_follower_ros2.cpp)
ament_target_dependencies(wall_follower_ros2 rclcpp sensor_msgs geometry_msgs)

install(TARGETS
  wall_follower_ros2
  DESTINATION lib/${PROJECT_NAME}/
)

# prevent error message 'file xxx.launch.xml was not found in the share directory of package'
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

# install package.xml, register the package with the ament index,
# and install config/target files for CMake so that it can be found by other packages using find_package
ament_package()
