cmake_minimum_required(VERSION 3.8)
project(wrrr)

set(CMAKE_CXX_STANDARD 17)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

if (NOT TARGET rrts)
  add_subdirectory(rrts)
endif()

include_directories(include)
# FIXME the following is the workaround, see
# https://answers.ros.org/question/344496/cannot-include-tf2_geometry_msgsh/
include_directories(/opt/ros/rolling/include/tf2_geometry_msgs)
include_directories(/opt/ros/rolling/include/tf2)
include_directories(/opt/ros/rolling/include/tf2_ros)

add_executable(rrts_planner src/rrts_wr.cc)
target_link_libraries(rrts_planner rrts)
ament_target_dependencies(rrts_planner rclcpp nav_msgs)
install(TARGETS rrts_planner DESTINATION lib/${PROJECT_NAME})

ament_package()