set(MOVEIT_LIB_NAME moveit_rdf_loader)

add_library(${MOVEIT_LIB_NAME} SHARED src/rdf_loader.cpp src/synchronized_string_parameter.cpp)
set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
ament_target_dependencies(${MOVEIT_LIB_NAME}
      rclcpp
      ament_index_cpp
      urdf
      srdfdom
      moveit_core
      Boost)

install(DIRECTORY include/ DESTINATION include)
install(DIRECTORY
            test/data
            test/launch
        DESTINATION share/${PROJECT_NAME}/rdf_loader/test
)

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(ros_testing REQUIRED)

  ament_add_gtest_executable(test_rdf_integration
      test/test_rdf_integration.cpp
  )
  target_link_libraries(test_rdf_integration ${MOVEIT_LIB_NAME})
  add_ros_test(test/launch/test_rdf_integration.test.py TIMEOUT 120)

  add_executable(boring_string_publisher test/boring_string_publisher.cpp)
  target_link_libraries(boring_string_publisher ${MOVEIT_LIB_NAME})

  install(
    TARGETS
      test_rdf_integration boring_string_publisher
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION lib/${PROJECT_NAME}
  )
endif()
