CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(apriltag_ros2)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package (cv_bridge REQUIRED NO_MODULE)
find_package (OpenCV REQUIRED NO_MODULE)
find_package (Eigen3 3.3 REQUIRED NO_MODULE)
find_package(apriltag REQUIRED)


include_directories(${CMAKE_SOURCE_DIR}/include ${OpenCV_INCLUDE_DIRS} )

# Executable
add_executable(apriltag_ros2 src/apriltag_node.cpp src/apriltag_ros.cpp)
target_link_libraries (apriltag_ros2 Eigen3::Eigen ${OpenCV_LIBS} apriltag::apriltag)
ament_target_dependencies(apriltag_ros2 rclcpp std_msgs geometry_msgs sensor_msgs nav_msgs Eigen3 OpenCV cv_bridge)

install(TARGETS
  apriltag_ros2
  DESTINATION lib/${PROJECT_NAME})

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

ament_package()