cmake_minimum_required(VERSION 3.20)
project(robot_state_publisher)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

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

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(kdl_parser REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(urdf REQUIRED)

add_library(
  ${PROJECT_NAME}_node SHARED
  src/robot_state_publisher.cpp)
target_include_directories(${PROJECT_NAME}_node PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME}_node PUBLIC
  ${builtin_interfaces_TARGETS}
  orocos-kdl
  ${rcl_interfaces_TARGETS}
  rclcpp::rclcpp
  ${sensor_msgs_TARGETS}
  ${std_msgs_TARGETS}
  tf2_ros::tf2_ros
  urdf::urdf
)
target_link_libraries(${PROJECT_NAME}_node PRIVATE
  ${geometry_msgs_TARGETS}
  kdl_parser::kdl_parser
  rclcpp_components::component
)
ament_export_targets(export_${PROJECT_NAME}_node)

rclcpp_components_register_node(${PROJECT_NAME}_node
  PLUGIN "robot_state_publisher::RobotStatePublisher"
  EXECUTABLE robot_state_publisher)

install(
  TARGETS
  ${PROJECT_NAME}_node
  EXPORT export_${PROJECT_NAME}_node
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/
  DESTINATION include/${PROJECT_NAME})

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

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)
  find_package(launch_testing_ament_cmake REQUIRED)
  ament_find_gtest()

  add_executable(test_two_links_fixed_joint test/test_two_links_fixed_joint.cpp)
  target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
  target_link_libraries(test_two_links_fixed_joint PRIVATE ${GTEST_LIBRARIES} rclcpp::rclcpp tf2_ros::tf2_ros)
  add_launch_test(test/two_links_fixed_joint-launch.py
    ARGS "test_exe:=$<TARGET_FILE:test_two_links_fixed_joint>")

  add_executable(test_two_links_fixed_joint_prefix test/test_two_links_fixed_joint_prefix.cpp)
  target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
  target_link_libraries(test_two_links_fixed_joint_prefix PRIVATE ${GTEST_LIBRARIES} rclcpp::rclcpp tf2_ros::tf2_ros)
  add_launch_test(test/two_links_fixed_joint_prefix-launch.py
    ARGS "test_exe:=$<TARGET_FILE:test_two_links_fixed_joint_prefix>")

  add_executable(test_two_links_moving_joint test/test_two_links_moving_joint.cpp)
  target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
  target_link_libraries(test_two_links_moving_joint PRIVATE ${GTEST_LIBRARIES} rclcpp::rclcpp ${sensor_msgs_TARGETS} tf2_ros::tf2_ros)
  add_launch_test(test/two_links_moving_joint-launch.py
    ARGS "test_exe:=$<TARGET_FILE:test_two_links_moving_joint>")

  add_executable(test_two_links_change_fixed_joint test/test_two_links_change_fixed_joint.cpp)
  target_include_directories(test_two_links_change_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
  target_link_libraries(test_two_links_change_fixed_joint PRIVATE
    ${GTEST_LIBRARIES}
    ${rcl_interfaces_TARGETS}
    rclcpp::rclcpp
    tf2_ros::tf2_ros
  )
  add_launch_test(test/two_links_change_fixed_joint-launch.py
    ARGS "test_exe:=$<TARGET_FILE:test_two_links_change_fixed_joint>")

  add_executable(test_change_mimic_joint test/test_change_mimic_joint.cpp)
  target_include_directories(test_change_mimic_joint PRIVATE ${GTEST_INCLUDE_DIRS})
  target_link_libraries(test_change_mimic_joint PRIVATE ${GTEST_LIBRARIES} rclcpp::rclcpp ${rcl_interfaces_TARGETS})
  add_launch_test(test/change_mimic_joint-launch.py
    ARGS "test_exe:=$<TARGET_FILE:test_change_mimic_joint>")
endif()

ament_export_dependencies(
  builtin_interfaces
  orocos_kdl
  rcl_interfaces
  rclcpp
  sensor_msgs
  std_msgs
  tf2_ros
  urdf
)
ament_package()