cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
set(ROS_BUILD_TYPE Release)
rosbuild_init()
rosbuild_genmsg()
rosbuild_gensrv()

find_package(PCL REQUIRED)
find_package(Eigen REQUIRED)
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS}
                           ${PCL_INCLUDE_DIRS}
)
add_definitions(${EIGEN_DEFINITIONS})

#rosbuild_add_boost_directories()

rosbuild_add_library(costmap_2d src/costmap_2d.cpp src/observation_buffer.cpp src/layered_costmap.cpp src/costmap_2d_ros.cpp src/costmap_2d_publisher.cpp src/footprint.cpp src/costmap_math.cpp s\
rc/layer.cpp src/array_parser.cpp)
target_link_libraries(costmap_2d ${PCL_LIBRARIES})
#rosbuild_link_boost(costmap_2d thread)

rosbuild_add_library(footprint_layer plugins/footprint_layer.cpp)
rosbuild_add_library(inflation_layer plugins/inflation_layer.cpp)
rosbuild_add_library( obstacle_layer  plugins/obstacle_layer.cpp src/observation_buffer.cpp plugins/footprint_layer.cpp)
rosbuild_add_library(   static_layer    plugins/static_layer.cpp)
rosbuild_add_library(    voxel_layer     plugins/voxel_layer.cpp plugins/obstacle_layer.cpp)


rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()

rosbuild_add_executable(bin/costmap_2d_markers src/costmap_2d_markers.cpp)
#rosbuild_add_executable(bin/costmap_2d_cloud src/costmap_2d_cloud.cpp)

rosbuild_add_executable(bin/costmap_2d_node src/costmap_2d_node.cpp)
target_link_libraries(bin/costmap_2d_node costmap_2d)