cmake_minimum_required(VERSION 3.5)
project(scene_component)

if(NOT CMAKE_C_STANDARD)
    set(CMAKE_C_STANDARD 99)
endif()

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

set(CMAKE_CXX_STANDARD_REQUIRED True)

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(ament_cmake_ros REQUIRED)
find_package(image_transport REQUIRED)
find_package(ros_gz_bridge REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(env_manager REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(moveit_core REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(moveit_ros_planning REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(component_interfaces REQUIRED)

find_package(ignition-transport11 REQUIRED)
set(GZ_TRANSPORT_VER ${ignition-transport11_VERSION_MAJOR})

find_package(ignition-msgs8 REQUIRED)
set(GZ_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})

set(GZ_TARGET_PREFIX ignition)

message(STATUS "Compiling against Ignition Fortress")


add_library(ign_tf2_broadcaster_component SHARED
    src/ign_tf2_broadcaster_component.cpp)
target_compile_definitions(ign_tf2_broadcaster_component
    PRIVATE "COMPOSITION_BUILDING_DLL")
target_link_libraries(ign_tf2_broadcaster_component
    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
    )
ament_target_dependencies(ign_tf2_broadcaster_component
    "ros_gz_bridge"
    "rclcpp"
    "rclcpp_components"
    "env_manager"
    "geometry_msgs"
    "tf2_ros")
rclcpp_components_register_nodes(ign_tf2_broadcaster_component "scene_component::IgnTf2Broadcaster")
set(node_plugins "${node_plugins}scene_component::IgnTf2Broadcaster;$<TARGET_FILE:scene_component>\n")

add_library(ign_detect_object_component SHARED
    src/ign_detect_object_component.cpp)
target_compile_definitions(ign_detect_object_component
  PRIVATE "COMPOSITION_BUILDING_DLL")
target_link_libraries(ign_detect_object_component
    ${GZ_TARGET_PREFIX}-msgs${GZ_MSGS_VER}::core
    ${GZ_TARGET_PREFIX}-transport${GZ_TRANSPORT_VER}::core
    )
ament_target_dependencies(ign_detect_object_component
    "ros_gz_bridge"
    "rclcpp"
    "rclcpp_components"
    "env_manager"
    "geometry_msgs"
    "tf2_ros"
    "component_interfaces")
  rclcpp_components_register_nodes(ign_detect_object_component "scene_component::IgnDetectOpjectService")
  set(node_plugins "${node_plugins}scene_component::IgnDetectObjectService;$<TARGET_FILE:scene_component>\n")

add_library(moveit_scene_component SHARED
    src/moveit_scene_component.cpp)
target_compile_definitions(moveit_scene_component
    PRIVATE "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(moveit_scene_component
    "rclcpp"
    "rclcpp_components"
    "env_manager"
    "geometry_msgs"
    "tf2_ros"
    "moveit_core"
    "moveit_msgs"
    "moveit_ros_planning"
    "moveit_ros_planning_interface")
rclcpp_components_register_nodes(moveit_scene_component "scene_component::MoveitSceneComponent")
set(node_plugins "${node_plugins}scene_component::MoveitSceneComponent;$<TARGET_FILE:scene_component>\n")

install(
    TARGETS 
        ign_detect_object_component
        ign_tf2_broadcaster_component
        moveit_scene_component
    DESTINATION 
        lib)

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()