cmake_minimum_required(VERSION 3.16)
project(cpp_pubsub VERSION 0.1.0)

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

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

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

include_directories(include)

add_executable(talker   src/publisher_member_function.cpp)
ament_target_dependencies(talker   rclcpp std_msgs)

add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)

install(TARGETS
  talker
  listener
  DESTINATION lib/${PROJECT_NAME}
)

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

# ------------------------------------------------------------------
# 测试:ament_cmake_gtest 集成 gtest,
#      colcon test --packages-select cpp_pubsub 时自动跑 test_pub_sub。
# ------------------------------------------------------------------
if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_pub_sub test/test_pub_sub.cpp)
  ament_target_dependencies(test_pub_sub rclcpp std_msgs)
endif()

ament_package()