cmake_minimum_required(VERSION 3.10)
project(rm_orientation_controller)

## Use C++14
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
## enforcing cleaner code.
add_definitions(-Wall -Werror)

## Find catkin macros and libraries
find_package(catkin REQUIRED
        COMPONENTS
        roscpp

        sensor_msgs
        rm_common

        pluginlib
        forward_command_controller
        tf2_geometry_msgs
        angles
        )

## Find system libraries
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)

catkin_package(
        INCLUDE_DIRS
        include
        LIBRARIES
        CATKIN_DEPENDS
        roscpp

        sensor_msgs
        rm_common

        pluginlib
        forward_command_controller
        tf2_geometry_msgs
        angles
        LIBRARIES ${PROJECT_NAME}
)


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

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

## Declare a cpp library
add_library(${PROJECT_NAME} src/orientation_controller.cpp)

## Specify libraries to link executable targets against
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

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

# Mark executables and/or libraries for installation
install(
    TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
    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"
)

# Mark other files for installation
install(
        DIRECTORY test
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
    FILES rm_orientation_controller_plugin.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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

#if (${CATKIN_ENABLE_TESTING})
#  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
#  ## Add gtest based cpp test target and link libraries
#  catkin_add_gtest(${PROJECT_NAME}-test
#      test/test_ros_package_template.cpp
#      test/AlgorithmTest.cpp)
#  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
#endif ()
