cmake_minimum_required(VERSION 3.8)
project(seubot_driver)

# 查找 ament 和 Python 依赖
find_package(ament_cmake REQUIRED)
find_package(ament_python REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# 查找消息依赖
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(nav_msgs REQUIRED)

# --- 生成消息和服务 ---
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/RgbEffect.msg"
  "msg/RgbLight.msg"
  "srv/GetAkmDefaultAngle.srv"
  "srv/GetCarType.srv"
  "srv/GetPid.srv"
  "srv/GetUartServo.srv"
  "srv/SetAkmDefaultAngle.srv"
  "srv/SetArmOffset.srv"
  "srv/SetCarType.srv"
  "srv/SetPid.srv"
  "srv/SetUartServoId.srv"
  DEPENDENCIES
    geometry_msgs
    sensor_msgs
    std_msgs
)

# --- 安装 Python 部分 ---
# 这会查找 setup.py 文件并执行它
ament_python_install_package(${PROJECT_NAME})

# --- 安装 Launch 文件 ---
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}
)

# --- Final ---
ament_package()