cmake_minimum_required(VERSION 3.5)
project(nav2_smoother)

find_package(ament_cmake REQUIRED)
find_package(nav2_core REQUIRED)
find_package(nav2_common REQUIRED)
find_package(angles REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_2d_utils REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(pluginlib REQUIRED)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

nav2_package()

include_directories(
  include
)

set(executable_name smoother_server)
set(library_name ${executable_name}_core)

set(dependencies
  angles
  rclcpp
  rclcpp_components
  rclcpp_action
  rclcpp_components
  std_msgs
  nav2_msgs
  nav_2d_utils
  nav_2d_msgs
  nav2_util
  nav2_core
  pluginlib
)

# Main library
add_library(${library_name} SHARED
  src/nav2_smoother.cpp
)
ament_target_dependencies(${library_name}
  ${dependencies}
)

# Main executable
add_executable(${executable_name}
  src/main.cpp
)
ament_target_dependencies(${executable_name}
  ${dependencies}
)
target_link_libraries(${executable_name} ${library_name})

# Simple Smoother plugin
add_library(simple_smoother SHARED
  src/simple_smoother.cpp
)
ament_target_dependencies(simple_smoother
  ${dependencies}
)

# Savitzky Golay Smoother plugin
add_library(savitzky_golay_smoother SHARED
  src/savitzky_golay_smoother.cpp
)
ament_target_dependencies(savitzky_golay_smoother
  ${dependencies}
)

pluginlib_export_plugin_description_file(nav2_core plugins.xml)


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  set(ament_cmake_copyright_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)
endif()

rclcpp_components_register_nodes(${library_name} "nav2_smoother::SmootherServer")

install(
  TARGETS ${library_name} simple_smoother savitzky_golay_smoother
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(TARGETS ${executable_name}
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY include/
  DESTINATION include/
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
  find_package(ament_cmake_gtest REQUIRED)
  add_subdirectory(test)
endif()

ament_export_include_directories(include)
ament_export_libraries(${library_name} simple_smoother savitzky_golay_smoother)
ament_export_dependencies(${dependencies})
ament_package()