cmake_minimum_required(VERSION 3.8)
project(rbs_perception)

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(ament_cmake_python REQUIRED)
find_package(rclpy REQUIRED)
find_package(rclcpp REQUIRED)
find_package(image_transport REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rbs_skill_interfaces REQUIRED)
# find_package(opencv2 REQUIRED)
find_package(PCL 1.12 REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(moveit_msgs REQUIRED)
# find_package(grasp_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)

# Install Python modules
ament_python_install_package(${PROJECT_NAME})

# Install Python executables
install(PROGRAMS
  scripts/detection_lifecycle.py
  scripts/detection_service.py
  scripts/grasp_marker_publish.py
  scripts/pose_estimation.py
  scripts/pose_estimation_lifecycle.py
  scripts/rbs_interface.py
  DESTINATION lib/${PROJECT_NAME}
)

add_executable(pc_filter src/perception_filter.cpp)
ament_target_dependencies(pc_filter 
rclcpp  
pcl_conversions
tf2_ros
tf2_eigen
tf2_msgs
geometry_msgs
sensor_msgs
PCL
pcl_ros
)
target_include_directories(pc_filter PRIVATE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)

target_compile_definitions(pc_filter
    PRIVATE "PC_FILTER_CPP_BUILDING_DLL")

target_link_libraries(pc_filter ${PCL_LIBRARIES})
install(
  DIRECTORY config launch
  DESTINATION share/${PROJECT_NAME}
)

install(TARGETS
    pc_filter
    DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()