CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(hal_an_spatial)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 20)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic 
  -O3 -mtune=native -march=native
  #-g -ggdb
  )
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcutils)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(serial REQUIRED)

include_directories(include/hal_an_spatial)
add_executable(HALSpatial src/advancednavigation_spatial.cpp src/an_packet_protocol.c src/spatial_packets.c)
ament_target_dependencies(HALSpatial rclcpp rcutils std_msgs sensor_msgs geometry_msgs serial)

install(TARGETS HALSpatial
  EXPORT export_${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME})

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

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

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()