cmake_minimum_required(VERSION 3.0.2)
project(cob_trajectory_controller)

find_package(catkin REQUIRED COMPONENTS actionlib cob_srvs control_msgs dynamic_reconfigure roscpp sensor_msgs std_msgs std_srvs trajectory_msgs)

### Message Generation ###
generate_dynamic_reconfigure_options(
  cfg/CobTrajectoryController.cfg
)

catkin_package(
  CATKIN_DEPENDS control_msgs sensor_msgs std_msgs trajectory_msgs
)

### BUILD ###
include_directories(common/include ${catkin_INCLUDE_DIRS})

add_executable(${PROJECT_NAME} common/src/RefValJS_PTP.cpp common/src/RefValJS_PTP_Trajectory.cpp common/src/TimeStamp.cpp common/src/genericArmCtrl.cpp ros/src/${PROJECT_NAME}.cpp)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})

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