cmake_minimum_required(VERSION 3.5)
project(dynamixel_ros2_control)

# Default to C++17
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 -O3)
endif()

find_package(ament_cmake REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(dynamixel_sdk REQUIRED COMPONENTS)

add_library(
  ${PROJECT_NAME}
  SHARED
  src/dynamixel_ros2_control.cpp
)

target_include_directories(
  ${PROJECT_NAME}
  PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>)

ament_target_dependencies(
  ${PROJECT_NAME}
  dynamixel_sdk
  rclcpp
  hardware_interface
  pluginlib
)

pluginlib_export_plugin_description_file(hardware_interface dynamixel_ros2_control_hardware_interface.xml)

install(
  TARGETS ${PROJECT_NAME}
  DESTINATION lib
)
install(
  DIRECTORY include/
  DESTINATION include
)

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()

ament_export_include_directories(
  include
)
ament_export_libraries(
  ${PROJECT_NAME}
)
ament_export_dependencies(
  dynamixel_sdk
  rclcpp
  hardware_interface
  pluginlib
)

ament_package()