# CMakeLists.txt - cpp_robot_tf2 包构建配置
#
# 设计思想:
#   - JointStatePublisher + Tf2Listener 都是独立可执行(节点即进程)
#   - 库 + 可执行分离(便于测试只链接库)
#   - 显式声明每个 ament 依赖(不靠 ros2_defaults)

cmake_minimum_required(VERSION 3.16)
project(cpp_robot_tf2 LANGUAGES CXX)

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()

# 必备: 找 ament_cmake + 依赖
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

set(THIS_PACKAGE_INCLUDE_DEPENDS
  rclcpp
  sensor_msgs
  geometry_msgs
  tf2_ros
  tf2
  tf2_geometry_msgs
)

# 库(只含类实现,不含 main)
add_library(${PROJECT_NAME}_core SHARED
  src/joint_state_publisher.cpp
  src/tf2_listener.cpp
)
target_include_directories(${PROJECT_NAME}_core PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})

# 可执行(main 单独文件)
add_executable(joint_state_publisher_cpp src/joint_state_publisher_main.cpp)
target_link_libraries(joint_state_publisher_cpp ${PROJECT_NAME}_core)

add_executable(tf2_listener_cpp src/tf2_listener_main.cpp)
target_link_libraries(tf2_listener_cpp ${PROJECT_NAME}_core)

# 安装
install(TARGETS
  joint_state_publisher_cpp
  tf2_listener_cpp
  ${PROJECT_NAME}_core
  DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY launch urdf
  DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(test_tf2_lookup test/test_tf2_lookup.cpp)
  ament_target_dependencies(test_tf2_lookup
    rclcpp ${THIS_PACKAGE_INCLUDE_DEPENDS})
  target_link_libraries(test_tf2_lookup ${PROJECT_NAME}_core)
endif()

ament_package()