cmake_minimum_required(VERSION 3.8)
project(lite6_controller)

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(robot_interfaces REQUIRED)
find_package(robot_controller REQUIRED)
find_package(moveit REQUIRED)
find_package(pilz_industrial_motion_planner REQUIRED)
find_package(moveit_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(xarm_api REQUIRED)
find_package(xarm_msgs REQUIRED)

find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)
find_package(Eigen3 REQUIRED)
include_directories(include  ${Boost_INCLUDE_DIR} ${EIGEN_INCLUDE_DIRS})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(lite6_controller src/lite6_controller.cpp)
ament_target_dependencies(lite6_controller
  "rclcpp"
  "moveit"
  "rclcpp_action"
  "Eigen3"
  "pilz_industrial_motion_planner"
  "robot_controller"
  "moveit_ros_planning_interface"
  "robot_interfaces")

add_executable(lite6_calibration src/lite6_calibration.cpp)
ament_target_dependencies(lite6_calibration
  "xarm_msgs"
  "xarm_api"
  "rclcpp"
  "moveit"
  "rclcpp_action"
  "Eigen3"
  "pilz_industrial_motion_planner"
  "robot_controller"
  "moveit_ros_planning_interface"
  "robot_interfaces")

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

install(TARGETS
  lite6_controller
  lite6_calibration
  DESTINATION lib/${PROJECT_NAME})

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

ament_package()
