cmake_minimum_required(VERSION 3.8)

project(sweet_webots_robot)

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

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(webots_ros2_driver REQUIRED)
find_package(sweet_msg REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(CURL REQUIRED)

pluginlib_export_plugin_description_file(
  webots_ros2_driver
  webots_robot_driver.xml
)

add_library(
  ${PROJECT_NAME}
  SHARED
  src/WebotsRobotDriver.cpp
)


target_include_directories(
  ${PROJECT_NAME}
  PRIVATE
  include
)

add_executable(
  path_visualizer
  src/PathVisualizer.cpp
)
ament_target_dependencies(
  ${PROJECT_NAME}
  pluginlib
  rclcpp
  webots_ros2_driver
  geometry_msgs
  nav_msgs
  sweet_msg
  visualization_msgs
)
ament_target_dependencies(
  path_visualizer
  pluginlib
  rclcpp
  webots_ros2_driver
  geometry_msgs
  nav_msgs
  sweet_msg
  visualization_msgs
)
target_include_directories(
  path_visualizer
  PRIVATE
  include
)
target_link_libraries(
  path_visualizer
  CURL::libcurl
)

ament_target_dependencies(
  path_visualizer
  rclcpp
  geometry_msgs
  nav_msgs
)

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

install(
  TARGETS
  ${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)


install(
  DIRECTORY
  launch
  resource
  worlds
  DESTINATION share/${PROJECT_NAME}/
)

install(
  DIRECTORY
    urdf
    meshes
    launch
  DESTINATION share/${PROJECT_NAME}
)

ament_export_include_directories(
  include
)

ament_export_libraries(
  ${PROJECT_NAME}
)

ament_package()