cmake_minimum_required(VERSION 2.8.3)
project(robot_markers)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  cmake_modules
  geometry_msgs
  kdl_parser
  roscpp
  rospy
  std_msgs
  tf2_kdl
  tf2_ros
  transform_graph
  urdf
  visualization_msgs
)

find_package(Boost REQUIRED)
find_package(Eigen REQUIRED)
find_package(orocos_kdl REQUIRED)

## 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()

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES
    robot_markers_builder
    robot_markers_forward_kinematics
  CATKIN_DEPENDS
    cmake_modules
    geometry_msgs
    roscpp
    rospy
    std_msgs
    transform_graph
    urdf
    visualization_msgs
  DEPENDS Boost Eigen orocos_kdl
)

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

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

## Declare a C++ library
add_library(robot_markers_forward_kinematics src/forward_kinematics.cpp)
add_dependencies(robot_markers_forward_kinematics ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(robot_markers_forward_kinematics
  ${catkin_LIBRARIES}
  ${orocos_kdl_LIBRARIES}
)

add_library(robot_markers_builder src/builder.cpp)
add_dependencies(robot_markers_builder ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(robot_markers_builder
	robot_markers_forward_kinematics
  ${catkin_LIBRARIES}
)

## Declare a C++ executable
add_executable(robot_markers_demo src/demo_main.cpp)
set_target_properties(robot_markers_demo PROPERTIES OUTPUT_NAME demo PREFIX "")
add_dependencies(robot_markers_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(robot_markers_demo
	robot_markers_builder
  ${catkin_LIBRARIES}
)

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS robot_markers_forward_kinematics
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS robot_markers_builder
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(TARGETS robot_markers_demo
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_robot_markers.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
