CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(centauro_cartesio VERSION 1.0.0)

# Compile as C++11, supported in ROS Kinetic and newer
set(CMAKE_CXX_STANDARD 17)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
    message_generation
    geometry_msgs
    eigen_conversions
)


find_package(OpenSoT REQUIRED)

find_package(cartesian_interface REQUIRED)

find_package(cartesio_acceleration_support QUIET)

find_package(xbot2 QUIET)

add_service_files(
    FILES
    SetNormal.srv
)

generate_messages(
    DEPENDENCIES
    geometry_msgs
)

catkin_package(

)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
    include
    ${catkin_INCLUDE_DIRS}
    ${OpenSoT_INCLUDE_DIRS}
)

# centauro_cartesio_addon library
add_library(centauro_cartesio_addon
    src/cartesio_addon.cpp
    src/centauro_ankle_steering.cpp
)

add_dependencies(centauro_cartesio_addon ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(centauro_cartesio_addon
    ${catkin_LIBRARIES}
    cartesian_interface::CartesianInterface
)

install(TARGETS centauro_cartesio_addon
    EXPORT ${PROJECT_NAME}Targets
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)


# omnisteering_controller library
add_library(omnisteering_controller SHARED
    src/omnisteering_controller.cpp)

target_link_libraries(omnisteering_controller
    ${catkin_LIBRARIES}
    cartesian_interface::CartesianInterface
    centauro_cartesio_addon
)

# omnisteering_controller ndoe
add_executable(omnisteering_controller_node
    src/omnisteering_controller_node.cpp)

target_link_libraries(omnisteering_controller_node
    omnisteering_controller
)

install(TARGETS omnisteering_controller omnisteering_controller_node
    EXPORT ${PROJECT_NAME}Targets
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

# omnisteering_controller plugin
if(${xbot2_FOUND})
    add_xbot2_plugin(omnisteering_controller_plugin
        src/omnisteering_controller_plugin.cpp)

    target_link_libraries(omnisteering_controller_plugin
        PRIVATE
        omnisteering_controller
        xbot2::xbot2_ros_support)

    install(TARGETS omnisteering_controller_plugin
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    )
endif()

if(${cartesio_acceleration_support_FOUND} AND ${xbot2_FOUND})

    add_xbot2_plugin(centauro_gcomp_plugin
        src/centauro_gcomp.cpp)

    target_include_directories(centauro_gcomp_plugin PRIVATE
        ${cartesio_acceleration_support_INCLUDE_DIRS}
    )

    target_link_libraries(centauro_gcomp_plugin
        PRIVATE
        cartesian_interface::CartesianInterface
        xbot2::xbot2_ros_support)

    install(TARGETS centauro_gcomp_plugin
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    )
endif()


## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/centauro_cartesio_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
install(PROGRAMS
    python/virtual_frame_test.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
    PATTERN ".svn" EXCLUDE
)

install(DIRECTORY configs/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/configs
)

install(DIRECTORY launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
    FILES_MATCHING PATTERN "*.launch"
    PATTERN ".svn" EXCLUDE
)

# bindings
add_subdirectory(python)


include(cmake/ExportProject.cmake)
export_project()