CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(rover_ctrl)

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

################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(gazebo REQUIRED)
find_package(gazebo_ros_pkgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

################################################################################
# Build
################################################################################
link_directories(
  ${GAZEBO_LIBRARY_DIRS}
)

include_directories(
  include
  ${GAZEBO_INCLUDE_DIRS}
)

set(dependencies
  "geometry_msgs"
  "nav_msgs"
  "rclcpp"
  "sensor_msgs"
  "tf2"
)

set(EXEC_NAME "rover_drive")

add_executable(${EXEC_NAME} src/rover_drive.cpp)
ament_target_dependencies(${EXEC_NAME} ${dependencies})

#ament_target_dependencies(mobile_robot_hardware_interface rclcpp)

#add_library(i2c_ros src/i2c_ros.cpp)

#add_executable(mobile_robot_hardware_interface src/robot_hardware_interface_node.cpp)

#rosidl_get_typesupport_target(cpp_typesupport_target
#  ${PROJECT_NAME} rosidl_typesupport_cpp)

#target_link_libraries(mobile_robot_hardware_interface "${cpp_typesupport_target}")


################################################################################
# Install
################################################################################
install(DIRECTORY config description launch maps meshes params worlds
  DESTINATION share/${PROJECT_NAME}
)

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

install(DIRECTORY include/
  DESTINATION include/
)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

################################################################################
# Macro for ament package
################################################################################
ament_export_include_directories(include)
ament_export_dependencies(gazebo_ros_pkgs)
ament_export_dependencies(geometry_msgs)
ament_export_dependencies(nav_msgs)
ament_export_dependencies(rclcpp)
ament_export_dependencies(sensor_msgs)
ament_export_dependencies(tf2)

ament_package()