cmake_minimum_required(VERSION 3.8)
project(mg_navigation)

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

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(mg_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)

include(FindPkgConfig)
pkg_search_module(LIBGLM REQUIRED glm)



set(PACKAGE_DEPS
  rclcpp
  mg_msgs
  geometry_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
)

add_executable(mg_nav_server 
  src/mg_navigation.cpp
)
ament_target_dependencies(mg_nav_server ${PACKAGE_DEPS})

target_include_directories(
  mg_nav_server
  PRIVATE
  ${LIBGLM_INCLUDE_DIRS}
  include
)

target_link_libraries(
  mg_nav_server
  ${LIBGLM_LIBRARIES}
)

install( TARGETS
  mg_nav_server
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()