cmake_minimum_required(VERSION 3.8)
project(ros_midterm)

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(rclcpp REQUIRED)  
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)  # Added for cmd_pub

add_executable(imu_sub src/imu_sub.cpp)
ament_target_dependencies(imu_sub rclcpp std_msgs sensor_msgs)

add_executable(cmd_pub src/cmd_pub.cpp)  # Add your new node
ament_target_dependencies(cmd_pub rclcpp geometry_msgs)

target_include_directories(imu_sub PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(imu_sub PUBLIC c_std_99 cxx_std_17)

target_include_directories(cmd_pub PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_compile_features(cmd_pub PUBLIC c_std_99 cxx_std_17)

install(TARGETS imu_sub cmd_pub  # Install both executables
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()