cmake_minimum_required(VERSION 3.5)
project(bosch_locator_bridge_utils)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2_ros REQUIRED)

find_package(PCL REQUIRED)
include_directories(include ${PCL_INCLUDE_DIRS})

if("$ENV{ROS_DISTRO}" STREQUAL "galactic")
  add_compile_definitions(ROS_GALACTIC)
endif()

add_executable(locator_map_server src/map_server_main.cpp src/map_server.cpp)
target_include_directories(locator_map_server PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
ament_target_dependencies(locator_map_server
  nav2_util
  pcl_conversions
  rclcpp
)
target_link_libraries(locator_map_server ${PCL_LIBRARIES})

add_executable(locator_node src/locator_node_main.cpp src/locator_node.cpp)
target_include_directories(locator_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
ament_target_dependencies(locator_node
  nav2_util
  rclcpp
  std_srvs
)


install(TARGETS locator_map_server locator_node
  EXPORT export_${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY config launch params
  DESTINATION share/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
