cmake_minimum_required(VERSION 2.8.3)
project(rms)

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

find_package(catkin REQUIRED COMPONENTS
  roscpp
  nodelet
  sensor_msgs
  pcl_ros
  mrs_lib
)

# TSL Robin Map for voxelization
add_subdirectory(thirdparty/robin-map)

# Point Cloud Library
find_package(PCL REQUIRED)

# Eigen
find_package(Eigen3 REQUIRED)
set(Eigen_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
set(Eigen_LIBRARIES ${Eigen_LIBRARIES})

set(LIBRARIES
  RMS RMSNodelet
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${LIBRARIES}
  CATKIN_DEPENDS roscpp nodelet sensor_msgs pcl_ros mrs_lib
  DEPENDS Eigen
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
)

link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_library(RMS
  src/histogram.cpp
  src/rms.cpp
)

add_dependencies(RMS
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(RMS
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${Eigen_INCLUDE_DIRS}
  tsl::robin_map
)

add_library(RMSNodelet
  src/histogram.cpp
  src/rms.cpp
  src/rms_nodelet.cpp
)

add_dependencies(RMSNodelet
  ${${PROJECT_NAME}_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(RMSNodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${Eigen_INCLUDE_DIRS}
  tsl::robin_map
)

## --------------------------------------------------------------
## |                           Install                          |
## --------------------------------------------------------------

install(TARGETS ${LIBRARIES}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

install(DIRECTORY launch config
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

install(DIRECTORY ./
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  FILES_MATCHING PATTERN "*.xml"
)