cmake_minimum_required(VERSION 3.5)
project(grid_map_costmap_2d)

## Find ament_cmake macros and libraries
find_package(ament_cmake REQUIRED)
find_package(grid_map_cmake_helpers REQUIRED)
find_package(grid_map_core REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

find_package(Eigen3 REQUIRED)

grid_map_package()

## Specify additional locations of header files
include_directories(
  include
  SYSTEM
    ${EIGEN3_INCLUDE_DIR}
    ${grid_map_core_INCLUDE_DIRS}
    ${nav2_costmap_2d_INCLUDE_DIRS}
    ${geometry_msgs_INCLUDE_DIRS}
)

set(dependencies
  grid_map_core
  geometry_msgs
  nav2_costmap_2d
  tf2_ros
  tf2_geometry_msgs
)

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

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

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

if(BUILD_TESTING)
  # Linting is setup this way to add a filter
  # to ament_cpplint to ignore the lack of
  # copyright messages at the top of files.
  # Copyright messages are being checked for by both
  # ament_cmake_cpplint & ament_cmake_copyright.

  find_package(ament_lint_auto REQUIRED)
  find_package(ament_lint_auto QUIET)
  if(ament_lint_auto_FOUND)
    # exclude copyright checks
    list(APPEND AMENT_LINT_AUTO_EXCLUDE
      ament_cmake_cpplint
      ament_cmake_copyright
    )
    ament_lint_auto_find_test_dependencies()

    # run cpplint without copyright filter
    find_package(ament_cmake_cpplint)
    ament_cpplint(
      FILTERS -legal/copyright
    )
  endif()
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)

  add_subdirectory(test)
endif()

ament_export_include_directories(include)
ament_export_dependencies(${dependencies})
ament_package()
