cmake_minimum_required(VERSION 2.8.3)
project(space_nav)

add_compile_options(-std=c++11)
set (CMAKE_BUILD_TYPE Release)

find_package(catkin REQUIRED COMPONENTS
    actionlib
    geometry_msgs
    base_msgs
    message_generation
    laser_geometry
    message_filters
    nav_msgs
    std_msgs
    nav_msgs
    roscpp
    rospy
    tf2_ros
    tf
)

find_package(Eigen3 REQUIRED)

catkin_package(
    CATKIN_DEPENDS
    geometry_msgs
    nav_msgs
    roscpp
)

include_directories(
    common/
    cons_planner/
    omni_planner/
    planner_core/
    face/
    obstacle/
    ${PROJECT_SOURCE_DIR}
    ${catkin_INCLUDE_DIRS}
    ${EIGEN3_INCLUDE_DIRS}
)

link_directories(
    /usr/lib/
    /usr/local/lib/
    /usr/local/libstatic/
)

add_executable(nav_node
    cons_planner/cons_planner.cpp
    omni_planner/omni_planner.cpp
    face/diff/diff.cpp
    face/forklift/forklift.cpp
    face/mecanum/mecanum.cpp
    obstacle/obstacle.cpp
    ros_node.cpp
)

target_link_libraries(nav_node
    ${catkin_LIBRARIES}
    space_lib
    glog
    # libspace_key.a
)

install(TARGETS 
    nav_node
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    USE_SOURCE_PERMISSIONS
)