cmake_minimum_required(VERSION 3.8)
project(rbs_bt_executor)

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


find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(rbs_skill_interfaces REQUIRED)
find_package(behavior_tree REQUIRED)
find_package(control_msgs REQUIRED)

if (NOT CMAKE_CXX_STANDARD)
    set(CMAKE_CXX_STANDARD 17)
endif()

set(dependencies
    rclcpp
    rclcpp_action
    geometry_msgs    
    tf2_geometry_msgs
    moveit_msgs
    moveit_core
    moveit_ros_planning
    moveit_ros_planning_interface
    ament_index_cpp
    rbs_skill_interfaces
    behavior_tree
    std_msgs
    control_msgs
)

include_directories(include)

add_library(rbs_skill_move_topose_bt_action_client SHARED src/MoveToPose.cpp)
list(APPEND plugin_libs rbs_skill_move_topose_bt_action_client)

add_library(rbs_skill_gripper_move_bt_action_client SHARED src/gripper_move.cpp)
list(APPEND plugin_libs rbs_skill_gripper_move_bt_action_client)

add_library(rbs_skill_get_pick_place_pose_service_client SHARED src/GetPickPlacePoses.cpp)
list(APPEND plugin_libs rbs_skill_get_pick_place_pose_service_client)

add_library(rbs_skill_move_joint_state SHARED src/MoveToJointStates.cpp)
list(APPEND plugin_libs rbs_skill_move_joint_state)

add_library(rbs_add_planning_scene_object SHARED src/AddPlanningSceneObject.cpp)
list(APPEND plugin_libs rbs_add_planning_scene_object)

foreach(bt_plugin ${plugin_libs})
    ament_target_dependencies(${bt_plugin} ${dependencies})
    target_compile_definitions(${bt_plugin} PRIVATE BT_PLUGIN_EXPORT)
endforeach()



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

install(TARGETS
    ${plugin_libs}
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION lib/${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_export_dependencies(${dependencies})

ament_package()