cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin packages       加入message_generation或genmsg
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)

## Declare ROS messages and services         新增所要使用的message與service
add_message_files(DIRECTORY msg FILES Num.msg)
add_service_files(DIRECTORY srv FILES AddTwoInts.srv)

## Generate added messages and services      產生message
generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()


## 加入以下 ---------------------------------------------
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)                                ## 產生publisher的執行檔
target_link_libraries(talker ${catkin_LIBRARIES})                    ## 連結publisher與catkin lib
add_dependencies(talker beginner_tutorials_generate_messages_cpp)    ## 新增相依項目 專案名_generate_messages_cpp

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)