CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(theta_driver)

# 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(rclcpp REQUIRED)
find_package(std_srvs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Boost 1.53 REQUIRED system thread timer)
find_package(nav2_util REQUIRED)

find_library( LibUVC 
  NAMES libuvc.so
  PATHS
  /usr/local/lib/
  /usr/local
  /usr
)
# Verificar si la biblioteca fue encontrada
if(LibUVC)
    message("Found LibUVC at ${LibUVC}")
else()
    message("Could not find LibUVC")
endif()

# Check for GStreamer
find_library( LIB_GSTAPP 
  NAMES libgstapp-1.0.so
  PATHS
  /usr/lib/x86_64-linux-gnu/
  /usr/lib
  /usr
)
# Verificar si la biblioteca fue encontrada
if(LIB_GSTAPP)
    message("Found gst LIB_GSTAPP at ${LIB_GSTAPP}")
else()
    message("Could not find LIB_GSTAPP")
endif()

pkg_check_modules(GSTREAMER_1_0 REQUIRED gstreamer-1.0)
pkg_check_modules(GSTREAMER_1_0_APP REQUIRED gstreamer-app-1.0)

if(GSTREAMER_1_0_FOUND AND GSTREAMER_1_0_APP_FOUND)
    message("GStreamer 1.0 found:")
    message("  Include directories: ${GSTREAMER_1_0_INCLUDE_DIRS}")
    message("  Libraries: ${GSTREAMER_1_0_LIBRARIES}")
    message("GStreamer App found:")
    message("  Include directories: ${GSTREAMER_1_0_APP_INCLUDE_DIRS}")
    message("  Libraries: ${GSTREAMER_1_0_APP_LIBRARIES}")
else()
    message("Could not find GStreamer or GStreamer App")
endif()

include_directories(
  include
  3rd/libuvc-theta-sample/gst
  ${OpenCV_INCLUDE_DIRS}
  ${GSTREAMER_1_0_INCLUDE_DIRS}
)

set(dependencies
  rclcpp
  std_msgs
  sensor_msgs
  nav2_util
  std_srvs
  rclcpp_components
)

set(node_plugins "")

# Add library and dependencies
add_library(theta_driver_lib SHARED src/theta_driver_lib.cpp)
rclcpp_components_register_nodes(theta_driver_lib "theta_driver::ThetaDriver")
ament_target_dependencies(theta_driver_lib
  ${dependencies}
  OpenCV
  GSTREAMER_1_0
  Boost
)
target_link_libraries(theta_driver_lib 
  ${LIB_GSTAPP} 
  ${LibUVC})
# Add executable and dependencies
add_executable(theta_driver_node 
  src/theta_driver_node.cpp
  3rd/libuvc-theta-sample/gst/thetauvc.c)
target_link_libraries(theta_driver_node theta_driver_lib)
ament_target_dependencies(theta_driver_node ${dependencies})

if(NOT WIN32)
  ament_environment_hooks(
    "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
endif()

# Install lib
install(TARGETS
  theta_driver_lib
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  )
  
# Install exec
install(TARGETS
  theta_driver_node
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/ 
  DESTINATION include/
)

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

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

ament_export_include_directories(
  include
)

    
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()