cmake_minimum_required(VERSION 3.8)
project(cyberdog_marker)

# 编译选项
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# 查找依赖项
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(gazebo_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# 生成服务接口
rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/PlaceMarker.srv"
  DEPENDENCIES
)

# 设置服务接口的链接
rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")

# 添加库
add_library(marker_service SHARED
  src/marker_service.cpp
)

# 设置包含路径
target_include_directories(marker_service PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include>")

# 链接依赖
target_link_libraries(marker_service
  "${cpp_typesupport_target}"
)

ament_target_dependencies(marker_service
  rclcpp
  rclcpp_components
  gazebo_msgs
)

# 安装头文件
install(
  DIRECTORY include/
  DESTINATION include
)

# 安装库
install(TARGETS
  marker_service
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

# 组件导出
rclcpp_components_register_node(
  marker_service
  PLUGIN "cyberdog::marker::MarkerService"
  EXECUTABLE marker_service_node
)

ament_package()