CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(four_wheel_steering_controller)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

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

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

ament_auto_add_library(four_wheel_steering_controller SHARED
  src/four_wheel_steering_controller.cpp
  src/model.cpp
)

pluginlib_export_plugin_description_file(controller_interface four_wheel_steering_controller_plugin.xml)

if(BUILD_TESTING)
  find_package(ament_cmake_gmock REQUIRED)
  find_package(ament_lint_auto REQUIRED)

  ament_lint_auto_find_test_dependencies()

  ament_add_gmock(test_four_wheel_steering_controller
    test/test_four_wheel_steering_controller.cpp
    ENV config_file=${CMAKE_CURRENT_SOURCE_DIR}/test/config/test_four_wheel_steering_controller.yaml)
  target_link_libraries(test_four_wheel_steering_controller
    four_wheel_steering_controller
  )
  ament_target_dependencies(test_four_wheel_steering_controller
    ${four_wheel_steering_controller_FOUND_TEST_DEPENDS}
  )

  ament_add_gmock(test_four_wheel_steering_model
    test/test_four_wheel_steering_model.cpp)
  target_link_libraries(test_four_wheel_steering_model
    four_wheel_steering_controller
  )
  ament_target_dependencies(test_four_wheel_steering_model
    ${four_wheel_steering_controller_FOUND_TEST_DEPENDS}
  )
endif()

ament_auto_package()