cmake_minimum_required(VERSION 3.24)
project(mg_planner)

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)
find_package(mg_obstacles REQUIRED)

include(FindPkgConfig)
pkg_search_module(LIBGLM REQUIRED glm)

set(PACKAGE_DEPS
  rclcpp
  mg_msgs
  geometry_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  mg_obstacles
)

add_executable(mg_planner
  src/mg_planner.cpp
  src/mg_planner_node.cpp
  src/obstacleManager.cpp
  src/a_star.cpp
)


ament_target_dependencies(mg_planner ${PACKAGE_DEPS})

target_include_directories(
  mg_planner
  PRIVATE
  ${LIBGLM_INCLUDE_DIRS}
  include
)

target_link_libraries(
  mg_planner
  ${LIBGLM_LIBRARIES}
)

target_compile_definitions(mg_planner PRIVATE GLM_ENABLE_EXPERIMENTAL)

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

target_compile_features(mg_planner PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17

ament_package()