# Catkin User Guide: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/user_guide.html
# Catkin CMake Standard: http://www.ros.org/doc/groovy/api/catkin/html/user_guide/standards.html
cmake_minimum_required(VERSION 2.8.3)
project(fetch_arm_control)
# Load catkin and all dependencies required for this package
# TODO: remove all from COMPONENTS that are not catkin packages.
find_package(catkin REQUIRED COMPONENTS
  rospy
  actionlib
  std_msgs
  geometry_msgs
  tf
  message_generation
)

# include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
# CATKIN_MIGRATION: removed during catkin migration
# cmake_minimum_required(VERSION 2.4.6)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()

# Generate messages and services
add_message_files(
  FILES
  GripperState.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
  tf
)

# catkin_package parameters: http://ros.org/doc/groovy/api/catkin/html/dev_guide/generated_cmake_api.html#catkin-package
# TODO: fill in what other packages will need to use this package
catkin_package(
  INCLUDE_DIRS src/fetch_arm_control
  #LIBRARIES pr2_arm_control
  CATKIN_DEPENDS rospy
  #DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  ${catkin_INCLUDE_DIRS}
)

#############
## Install ##
#############

install(PROGRAMS
  nodes/interactive_arm_control.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(FILES
  launch/arm_interaction_backend.launch
  launch/arm_interaction_frontend.launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)