cmake_minimum_required(VERSION 3.5)
project(lbot_arm_interfaces)

# Default to C99
if(NOT CMAKE_C_STANDARD)
    set(CMAKE_C_STANDARD 99)
endif()

# 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(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)

find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
    # srv
    "srv/MoveJ.srv"
    "srv/MoveL.srv"
    "srv/MoveC.srv"
    "srv/MoveJP.srv"
    "srv/InverseKinematics.srv"
    "srv/ForwardKinematics.srv"
    "srv/SetFrame.srv"
    "srv/SetString.srv"
    "srv/GetFrame.srv"
    "srv/GetCurrentFrame.srv"
    "srv/ChangeFrame.srv"
    "srv/DeleteFrame.srv"
    "srv/GetAllFrames.srv"
    "srv/SetZero.srv"
    "srv/SetEmergency.srv"
    "srv/SetEnable.srv"
    # msg
    "msg/ArmState.msg"
    "msg/LbotPose.msg"
    "msg/LbotFrame.msg"
    "msg/FollowJoint.msg"
    "msg/SystemError.msg"
    
    DEPENDENCIES std_msgs geometry_msgs sensor_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)


# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    # the following line skips the linter which checks for copyrights
    # uncomment the line when a copyright and license is not present in all source files
    #set(ament_cmake_copyright_FOUND TRUE)
    # the following line skips cpplint (only works in a git repo)
    # uncomment the line when this package is not in a git repo
    #set(ament_cmake_cpplint_FOUND TRUE)
    ament_lint_auto_find_test_dependencies()
endif()

ament_package()
