cmake_minimum_required(VERSION 3.5)
project(lifter_module_plugin)
set(CMAKE_EXPORT_COMPILE_COMMANDS on)
set(CMAKE_INSTALL_RPATH "./build/lifter_module_plugin")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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(gazebo_dev REQUIRED)
find_package(gazebo_msgs REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# include directories ( for include files )
include_directories(include
  ${gazebo_dev_INCLUDE_DIRS}
  ${gazebo_ros_INCLUDE_DIRS}
)

# link directories ( for libraries )
link_directories(${gazebo_dev_LIBRARY_DIRS})

# executables
add_library(LifterModulePlugin SHARED
  src/LifterModulePlugin.cpp
)

ament_target_dependencies(LifterModulePlugin
  "gazebo_dev"
  "gazebo_ros"
  "rclcpp"
  "gazebo_msgs"
)

ament_export_libraries(LifterModulePlugin)

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()

# ament_export_dependencies(rosidl_default_runtime)

install(DIRECTORY include/
        DESTINATION include)

install(TARGETS
   LifterModulePlugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

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

ament_package()

install(DIRECTORY include/
        DESTINATION include)

install(TARGETS
    LifterModulePlugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)

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

install(DIRECTORY
  models
  DESTINATION $ENV{HOME}/.gazebo
)