cmake_minimum_required(VERSION 3.5)
project(robossembler_servers)

# 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)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(robossembler_interfaces REQUIRED)

set(deps
  rclcpp
  rclcpp_action
  moveit_core
  moveit_ros_planning
  moveit_ros_planning_interface
  moveit_msgs
  geometry_msgs
  tf2_ros
  rclcpp_components
  robossembler_interfaces
)
#
# include_directories(include)

# install(DIRECTORY include
#   DESTINATION include
# )

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(move_to_joint_states_action_server src/move_to_joint_states_action_server.cpp)
# target_include_directories(move_to_joint_states_action_server PRIVATE include)
ament_target_dependencies(move_to_joint_states_action_server ${deps})

add_executable(move_topose_action_server src/move_topose_action_server.cpp)
# target_include_directories(move_topose_action_server PRIVATE include)
ament_target_dependencies(move_topose_action_server ${deps})

install(
  TARGETS 
  move_topose_action_server
  move_to_joint_states_action_server
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()