cmake_minimum_required(VERSION 3.0.2)
project(mia_hand_gazebo)

################################################################################################
## Compile as C++11, supported in ROS Kinetic and newer
################################################################################################

# add_compile_options(-std=c++11)

################################################################################################
## 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
  mia_hand_description
  mia_hand_ros_control
  std_msgs

  # ros control
  controller_manager
  roscpp
  angles
  pluginlib
  control_toolbox
  hardware_interface
  transmission_interface
  joint_limits_interface
  #gazebo
  #gazebo
  gazebo_ros_control
  #urdf
  urdf
)


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

################################################################################################
## Declare ROS messages, services and actions ##
################################################################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

#------------------------------------------------------------------------------------
## Generate messages in the 'msg' folder
#------------------------------------------------------------------------------------

# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

#------------------------------------------------------------------------------------
## Generate services in the 'srv' folder
#------------------------------------------------------------------------------------

# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

#------------------------------------------------------------------------------------
## Generate actions in the 'action' folder
#------------------------------------------------------------------------------------

# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

#------------------------------------------------------------------------------------
## Generate added messages and services with any dependencies listed here
#------------------------------------------------------------------------------------

# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )

###########################################################################################################
## Declare ROS dynamic reconfigure parameters ##
###########################################################################################################


## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

#------------------------------------------------------------------------------------
## Generate dynamic reconfigure parameters in the 'cfg' folder
#------------------------------------------------------------------------------------

# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###########################################################################################################
## 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 your 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(
  CATKIN_DEPENDS
  	mia_hand_description
  	mia_hand_ros_control
  	std_msgs
  	controller_manager
  	roscpp
 	angles
  	pluginlib
  	control_toolbox
  	hardware_interface
  	transmission_interface
  	joint_limits_interface
  	gazebo_ros_control
  	urdf
  INCLUDE_DIRS include
  #LIBRARIES mia_hand_gazebo

  DEPENDS GAZEBO
)

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



link_directories(
  ${GAZEBO_LIBRARY_DIRS}
  ${catkin_LIBRARY_DIRS}
)

#------------------------------------------------------------------------------------
## Specify additional locations of header files
## Your package locations should be listed before other locations
#------------------------------------------------------------------------------------

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

#------------------------------------------------------------------------------------------------
## Declare a C++ library
#------------------------------------------------------------------------------------------------

add_library(${PROJECT_NAME} 			#<-- The library name! (mia_hand_gazebo)
		src/Mia_hw_sim.cpp
)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})

#------------------------------------------------------------------------------------------------
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
#------------------------------------------------------------------------------------------------

# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

#------------------------------------------------------------------------------------------------
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
#------------------------------------------------------------------------------------------------

# add_executable(${PROJECT_NAME}_node src/mia_hand_gazebo_node.cpp)

#------------------------------------------------------------------------------------------------
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
#------------------------------------------------------------------------------------------------

# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

#------------------------------------------------------------------------------------------------
## Add cmake target dependencies of the executable
## same as for the library above
#------------------------------------------------------------------------------------------------

# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})



###########################################################################################################
## 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
#------------------------------------------------------------------------------------------------

# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

#------------------------------------------------------------------------------------------------
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
#------------------------------------------------------------------------------------------------

# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

#------------------------------------------------------------------------------------------------
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
#------------------------------------------------------------------------------------------------

 install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)


#------------------------------------------------------------------------------------------------
## Mark cpp header files for installation and other files for installation (e.g. launch and bag files, etc.)
#------------------------------------------------------------------------------------------------

 install(DIRECTORY include/${PROJECT_NAME}/
	  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
)

 install(FILES
	mia_hw_sim_plugins.xml
#   # myfile2
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mia_hand_gazebo.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)
