From c8a221db5272636e813b532499207886663cf899 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Mon, 6 Jan 2025 18:09:06 +0100
Subject: [PATCH 1/2] Build with release by default

---
 CMakeLists.txt | 15 +++++++++++----
 package.xml    |  5 +++--
 2 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c688c3c..2e11f2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,13 +6,19 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
-find_package(std_msgs REQUIRED)
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(eigen3_cmake_module REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
 find_package(tf2_eigen REQUIRED)
-find_package(eigen3_cmake_module REQUIRED)
-find_package(Eigen3 REQUIRED)
-find_package(ament_cmake REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
 set(INCLUDE_DIRS include)
@@ -64,6 +70,7 @@ add_library(${PROJECT_NAME} ${SOURCES})
 
 ament_target_dependencies(${PROJECT_NAME} SYSTEM
     Eigen3
+    backward_ros
     geometry_msgs
     rclcpp
     std_msgs
diff --git a/package.xml b/package.xml
index ec24dba..d33a6f4 100644
--- a/package.xml
+++ b/package.xml
@@ -17,11 +17,12 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>backward_ros</depend>
+  <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>visualization_msgs</depend>
   <depend>tf2_eigen</depend>
+  <depend>visualization_msgs</depend>
 
   <export>
     <bitbots_documentation>

From 64c777ef4f7ff9fd1509ed4124e5358e9eb0b765 Mon Sep 17 00:00:00 2001
From: Florian Vahl <git@flova.de>
Date: Mon, 6 Jan 2025 20:15:58 +0100
Subject: [PATCH 2/2] Fix eigen build order

---
 CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4afbdc8..7745c20 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,6 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
-find_package(Eigen3 REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -21,6 +20,8 @@ find_package(std_msgs REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(visualization_msgs REQUIRED)
 
+find_package(Eigen3 REQUIRED)
+
 set(INCLUDE_DIRS include)
 include_directories(${INCLUDE_DIRS})