cmake_minimum_required(VERSION 3.10)
project(cpp_lowcmd_bridge)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Werror=return-type)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(unitree_hg REQUIRED)

add_executable(h2_lowcmd_shm_bridge
  src/h2_lowcmd_shm_bridge.cpp
  src/motor_crc_hg.cpp
)
target_include_directories(h2_lowcmd_shm_bridge PRIVATE include)
ament_target_dependencies(h2_lowcmd_shm_bridge rclcpp std_msgs unitree_hg)

install(TARGETS h2_lowcmd_shm_bridge
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()