cmake_minimum_required(VERSION 3.8)
project(motion_control_system)

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(pluginlib REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

include_directories(include)
# ================添加库文件=====================
add_library(spin_motion_controller SHARED src/spin_motion_controller.cpp)
ament_target_dependencies(spin_motion_controller  pluginlib )

add_executable(test_plugin src/test_plugin.cpp)
ament_target_dependencies(test_plugin pluginlib)
install(TARGETS test_plugin
    DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS spin_motion_controller
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)
install(DIRECTORY include/
  DESTINATION include/
)
# 导出插件描述文件
pluginlib_export_plugin_description_file(motion_control_system spin_motion_plugins.xml)
ament_package()
