cmake_minimum_required(VERSION 3.8)
project(franka_moveit_interface)

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


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

option(CHECK_TIDY "Adds clang-tidy tests" OFF)

# find dependencies
find_package(Eigen3 REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)

find_package(moveit REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(moveit_ros_planning_interface)
find_package(moveit_task_constructor_core)

find_package(moveit_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(franka_cps_msgs REQUIRED)
find_package(franka_msgs REQUIRED)

find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

add_executable(franka_iml_interface src/moveit_interface.cpp)
#add_executable(franka_grasp_interface src/grasp_interface.cpp)
add_executable(franka_pose_recorder src/pose_record.cpp)

ament_target_dependencies(
  franka_iml_interface
  rclcpp
  moveit
  moveit_visual_tools
  moveit_ros_planning_interface
  moveit_msgs
  std_msgs
  geometry_msgs
  tf2
  tf2_ros
)

#ament_target_dependencies(
#  franka_grasp_interface
#  rclcpp
#  rclcpp_action
#  moveit
#  moveit_visual_tools
#  moveit_ros_planning_interface
#  moveit_task_constructor_core
#  moveit_msgs
#  franka_msgs
#  franka_cps_msgs
#  std_msgs
#  geometry_msgs
#  tf2
#  tf2_ros
#)

ament_target_dependencies(
  franka_pose_recorder
  rclcpp
  geometry_msgs
  tf2
  tf2_ros
)

install(
  TARGETS franka_iml_interface
#  TARGETS franka_grasp_interface
  TARGETS franka_pose_recorder
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
        launch
        DESTINATION share/${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_package()