cmake_minimum_required(VERSION 3.24)
project(patchwork)

add_compile_options(-std=c++17)
set(CMAKE_BUILD_TYPE "Release")

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

find_package(ament_cmake REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rcutils REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(TBB REQUIRED)

include_directories(
        include
        src
        ${catkin_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

################################################################################
add_executable(run_patchwork src/main.cpp)
ament_target_dependencies(run_patchwork
  rclcpp
  tf2_ros
  sensor_msgs
  nav_msgs
  visualization_msgs
  pcl_conversions
  PCL
)
target_link_libraries(run_patchwork
  ${PCL_LIBRARIES}
  TBB::tbb
  stdc++fs # To use std::filesystem
)

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

install(DIRECTORY launch config rviz
  DESTINATION share/${PROJECT_NAME}
)

ament_package()