CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(control)

# 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()

set(CMAKE_CXX_STANDARD 17)

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(rclpy REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)

# Create cpp executable
add_executable(lqr src/lqr.cpp)
ament_target_dependencies(lqr rclcpp geometry_msgs nav_msgs)

# Install cpp executable
install(TARGETS
  lqr
  DESTINATION lib/${PROJECT_NAME}
)

# Install launch file
# install(DIRECTORY
#   launch
#   DESTINATION share/${PROJECT_NAME}/
# )


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
 
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()