cmake_minimum_required(VERSION 2.8.3)
project(barrett_hand_gazebo)

# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS 
  roscpp 
  gazebo_ros 
)

find_package(Boost REQUIRED COMPONENTS system)
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})

add_library(gazebo_mimic_plugin src/mimic_plugin.cpp)
target_link_libraries(gazebo_mimic_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})

catkin_package(
  DEPENDS 
    roscpp 
    gazebo_ros 
)

install(DIRECTORY launch
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY worlds
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY include
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(
  TARGETS gazebo_mimic_plugin
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
