cmake_minimum_required(VERSION 3.5)
project(rasms_moveit_actions)

#find_package(moveit_common REQUIRED)
#moveit_package()

# 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(Eigen3 REQUIRED)
find_package(Boost REQUIRED system filesystem date_time thread)
find_package(ament_cmake REQUIRED)
find_package(control_msgs REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(moveit_ros_perception REQUIRED)
find_package(moveit_servo REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(geometric_shapes REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(pluginlib REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

set(THIS_PACKAGE_INCLUDE_DEPENDS
  ament_cmake
  rclcpp
  rclcpp_action
  tf2_geometry_msgs
  tf2_ros
  moveit_core
  moveit_visual_tools
  moveit_ros_planning_interface
  tf2_geometry_msgs
  moveit_ros_planning
  pluginlib
  Eigen3
  Boost
  control_msgs
  moveit_servo
)

include_directories(${THIS_PACKAGE_INCLUDE_DIRS})

add_executable(rasms_moveit src/run_moveit.cpp)
target_include_directories(rasms_moveit PUBLIC include)
ament_target_dependencies(rasms_moveit 
  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
)
install(TARGETS rasms_moveit
  DESTINATION lib/${PROJECT_NAME}
)

add_executable(rasms_move_group_interface src/rasms_move_group_interface.cpp)
target_include_directories(rasms_move_group_interface PUBLIC include)
ament_target_dependencies(rasms_move_group_interface 
  ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost
)
install(TARGETS rasms_move_group_interface
  DESTINATION lib/${PROJECT_NAME}
)
#install(TARGETS rasms_moveit
#  EXPORT export_${PROJECT_NAME}
#  LIBRARY DESTINATION lib
#  ARCHIVE DESTINATION lib
#  RUNTIME DESTINATION lib/${PROJECT_NAME}
#  INCLUDES DESTINATION include
#)
#ament_export_targets(export_${PROJECT_NAME})

ament_package()