cmake_minimum_required(VERSION 3.5)
project(rasms_manipulator)

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(plansys2_msgs REQUIRED)
find_package(plansys2_domain_expert REQUIRED)
find_package(plansys2_executor REQUIRED)
find_package(plansys2_planner REQUIRED)
find_package(plansys2_problem_expert REQUIRED)
find_package(plansys2_pddl_parser REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(plansys2_bt_actions 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
    plansys2_msgs
    plansys2_domain_expert
    plansys2_executor
    plansys2_planner
    plansys2_problem_expert
    plansys2_pddl_parser
    ament_index_cpp
    plansys2_bt_actions
)

include_directories(include)

add_library(rasms_move_bt_node SHARED src/behavior_tree_nodes/Move.cpp)
list(APPEND plugin_libs rasms_move_bt_node)

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

add_executable(assemble_controller_node src/assemble_controller_node.cpp)
ament_target_dependencies(assemble_controller_node ${dependencies})

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

install(TARGETS
    assemble_controller_node
    ${plugin_libs}
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION lib/${PROJECT_NAME}
)

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

    find_package(ament_cmake_gtest REQUIRED)
endif()

ament_export_dependencies(${dependencies})

ament_package()