CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
set(PROJECT_NAME as2_platform_tello)
project(${PROJECT_NAME})

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

# Set Release as default build type if not set
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

# find dependencies
set(PROJECT_DEPENDENCIES
  ament_cmake
  rclcpp
  as2_core
  as2_msgs
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  std_srvs
  tf2
  tf2_ros
  eigen3_cmake_module
  Eigen3
  OpenCV
)

foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
  find_package(${DEPENDENCY} REQUIRED)
endforeach()

set(SOURCE_CPP_FILES
  src/as2_platform_tello.cpp
  src/tello/tello.cpp
  src/tello/socket_udp.cpp
)

include_directories(
  include
  include/${PROJECT_NAME}
  ${EIGEN3_INCLUDE_DIRS}
)

# Add the exacutables
add_executable(${PROJECT_NAME}_node src/as2_platform_tello_node.cpp ${SOURCE_CPP_FILES})
ament_target_dependencies(${PROJECT_NAME}_node ${PROJECT_DEPENDENCIES})
target_link_libraries(${PROJECT_NAME}_node
  ${OpenCV_LIBS}
)

# # Create the dynamic library
# set(CMAKE_POSITION_INDEPENDENT_CODE ON)
add_library(${PROJECT_NAME} STATIC ${SOURCE_CPP_FILES})
ament_target_dependencies(${PROJECT_NAME} ${PROJECT_DEPENDENCIES})

# Install the headers
install(
  DIRECTORY include/
  DESTINATION include
)

# Install the node executable
install(TARGETS
  ${PROJECT_NAME}_node
  DESTINATION lib/${PROJECT_NAME}
)

# Install the library
install(
  TARGETS ${PROJECT_NAME}
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

# Install the launch directory
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

# Install the config directory
install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}
)

# Build tests if testing is enabled
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  add_subdirectory(tests)
endif()

ament_package()