cmake_minimum_required(VERSION 3.5)
project(imu_sensor)

# ========== C++ ׼ ==========
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()

# ========== ROS2  ==========
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)

# ========== ͷļ ==========
include_directories(
  include
  src
)

# ========== Դļ ==========
set(SRC_FILES
  src/imu_node.cpp
  src/sensors/bmi088/event_device.cpp
)

# ========== ִг ==========
add_executable(${PROJECT_NAME}
  ${SRC_FILES}
)

ament_target_dependencies(
  ${PROJECT_NAME}
  rclcpp
  sensor_msgs
  yaml_cpp_vendor
)

target_link_libraries(
  ${PROJECT_NAME}
  pthread
)

# ========== install ==========
install(
  TARGETS ${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME}
)

# ?? ֻװ config ݣǶ
install(
  DIRECTORY config/
  DESTINATION share/${PROJECT_NAME}/config
)

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

ament_package()
