cmake_minimum_required(VERSION 3.8)
project(nav2_pyif_controller)
set(WRAPPERS "python_wrappers")


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

set(CMAKE_CXX_STANDARD 17)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(PythonLibs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(builtin_interfaces REQUIRED)

nav2_package()

# add_executable(apf_test src/apf_test.cpp)

set(library_name nav2_pyif_controller)

# install(TARGETS apf_test
  # DESTINATION lib/${PROJECT_NAME})

include_directories(
  include
)

set(dependencies
  nav2_common
  nav2_core
  nav2_costmap_2d
  rclcpp
  rclcpp_action
  rclcpp_lifecycle
  std_msgs
  nav_msgs
  nav2_msgs
  sensor_msgs
  geometry_msgs
  pluginlib
  PythonLibs
  tf2_ros
  builtin_interfaces
)

add_library(${library_name} SHARED
        src/${library_name}.cpp
)

# target_include_directories(apf_test PUBLIC
#   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
#   $<INSTALL_INTERFACE:include>)

#   ament_target_dependencies(apf_test
#   ${dependencies}
# )

ament_target_dependencies(${library_name}
  ${dependencies}
)

# prevent pluginlib from using boost
target_compile_definitions(${library_name} PUBLIC 
  "PLUGINLIB__DISABLE_BOOST_FUNCTIONS"
)

pluginlib_export_plugin_description_file(nav2_core ${library_name}.xml)

install(TARGETS ${library_name}
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

install(DIRECTORY include/
  DESTINATION include/
)

ament_export_include_directories(include)
ament_export_libraries(${library_name})
ament_export_dependencies(${dependencies})
ament_export_targets(export_${PROJECT_NAME})

ament_package()
