CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(sdk_examples_ros)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

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

# ROS Dependencies
find_package(ament_cmake REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(tf2 REQUIRED)

# Generate interfaces
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Feature.msg"
  "msg/FeaturesStamped.msg"
  "srv/DetectFeatures.srv"
  DEPENDENCIES
  std_msgs sensor_msgs geometry_msgs
)
ament_export_dependencies(rosidl_default_runtime)
rosidl_get_typesupport_target(cpp_typesupport_target
  ${PROJECT_NAME} rosidl_typesupport_cpp)

# Create ROS Node
add_library(feature_detector_node SHARED
  src/node/feature_detector_node.cpp)

rclcpp_components_register_node(feature_detector_node
  PLUGIN "sdk_examples_ros::FeatureDetectorNode"
  EXECUTABLE feature_detector_node_main)

target_include_directories(feature_detector_node PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(feature_detector_node "rclcpp" "rclcpp_action" "rclcpp_components" "cv_bridge" "tf2")
target_link_libraries(feature_detector_node "${cpp_typesupport_target}")