cmake_minimum_required(VERSION 3.5)
    project(custom_sensor_plugin)

    find_package(ament_cmake REQUIRED)
    find_package(rclcpp REQUIRED)
    find_package(rclcpp_lifecycle REQUIRED)
    find_package(hardware_interface REQUIRED)
    find_package(pluginlib REQUIRED)
    find_package(gz_ros2_control REQUIRED)
    find_package(ignition-gazebo6 REQUIRED)
    find_package(ignition-plugin1 REQUIRED COMPONENTS register)

    include_directories(include)

    add_library(custom_sensor
      src/custom_sensor.cpp
    )

    ament_target_dependencies(custom_sensor
      rclcpp
      rclcpp_lifecycle
      hardware_interface
      pluginlib
      gz_ros2_control
      ignition-gazebo6
    )

    target_link_libraries(custom_sensor
      PRIVATE
        gz_ros2_control::gz_ros2_control
        ignition-gazebo6::ignition-gazebo6
        ignition-plugin${ignition-plugin1_VERSION_MAJOR}::ignition-plugin${ignition-plugin1_VERSION_MAJOR}
    )

    pluginlib_export_plugin_description_file(gz_ros2_control custom_sensor_plugin.xml)

    install(
      TARGETS custom_sensor
      ARCHIVE DESTINATION lib
      LIBRARY DESTINATION lib
      RUNTIME DESTINATION bin
    )
    install(
      DIRECTORY include/
      DESTINATION include
    )
    install(
      FILES package.xml custom_sensor_plugin.xml
      DESTINATION share/${PROJECT_NAME}
    )

    ament_export_include_directories(include)
    ament_export_libraries(custom_sensor)
    ament_package()