cmake_minimum_required(VERSION 3.5)
project(ld_slam)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

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(ament_cmake_python REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(ndt_omp_ros2 REQUIRED)
find_package(ld_slam_msg REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(OpenMP)
find_package(laser_geometry REQUIRED)


if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()

# Skip if Gazebo not present
find_package(gazebo QUIET)
if(NOT gazebo_FOUND)
  message(WARNING "Gazebo not found, proceeding without that simulator.")
  return()
endif()

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_library(odometry SHARED
src/odometry.cpp
)

target_compile_definitions(odometry PRIVATE "COMPOSITION_DLL")
ament_target_dependencies(odometry
  rclcpp 
  rclcpp_components 
  tf2_ros 
  tf2_geometry_msgs 
  tf2_sensor_msgs 
  tf2_eigen 
  geometry_msgs 
  sensor_msgs
  nav_msgs
  ndt_omp_ros2
  ld_slam_msg
  laser_geometry
  OpenCV
  PCL
)

add_library(loopClosureDetection SHARED
src/loopClosureDetection.cpp
)

target_compile_definitions(loopClosureDetection PRIVATE "COMPOSITION_DLL")
ament_target_dependencies(loopClosureDetection
  rclcpp 
  rclcpp_components 
  tf2_ros 
  tf2_geometry_msgs 
  tf2_sensor_msgs 
  tf2_eigen 
  geometry_msgs 
  sensor_msgs
  nav_msgs
  ndt_omp_ros2
  ld_slam_msg
  laser_geometry
  OpenCV
  PCL
)


include_directories(
  include
  include/ld_slam
  ${OpenCV_LIBRARY_DIRS}
  ${PCL_INCLUDE_DIRS}
)
link_directories(
  ${PCL_LIBRARY_DIRS}
  ${OpenCV_LIBRARY_DIRS}
)

add_executable(odometry_node src/odometry_node.cpp src/Scancontext.cpp)
target_link_libraries(odometry_node odometry ${PCL_LIBRARIES} ${OpenCV_LIBRARY_DIRS})
ament_target_dependencies(odometry_node rclcpp ld_slam_msg OpenCV PCL)

add_executable(loopClosureDetection_node src/loopClosureDetection.cpp src/Scancontext.cpp)
target_link_libraries(loopClosureDetection_node loopClosureDetection ${PCL_LIBRARIES} ${OpenCV_LIBRARY_DIRS})
ament_target_dependencies(loopClosureDetection rclcpp ld_slam_msg OpenCV PCL)


add_executable(featureExtraction_node src/featureExtraction.cpp)
ament_target_dependencies(featureExtraction_node rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs ld_slam_msg OpenCV PCL)
#rosidl_target_interfaces(featureExtraction_node ${PROJECT_NAME} "rosidl_typesupport_cpp")

add_executable(imageProjection_node src/imageProjection.cpp)
ament_target_dependencies(imageProjection_node rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs ld_slam_msg OpenCV PCL)
#rosidl_target_interfaces(imageProjection_node ${PROJECT_NAME} "rosidl_typesupport_cpp")

#include_directories(
#    include
#    ${PCL_INCLUDE_DIRS}
#)

add_definitions(${PCL_DEFINITIONS})

rclcpp_components_register_nodes(odometry 
  "ldslam::Odometry")

ament_export_libraries(odometry)

rclcpp_components_register_nodes(loopClosureDetection 
  "ldslam::LoopClosure")

ament_export_libraries(loopClosureDetection)

install(
  DIRECTORY "include/"
  DESTINATION include
)

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

install(
  PROGRAMS
  launch/spawn_turtlebot.py
  DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS
  odometry
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(TARGETS
  loopClosureDetection
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)


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

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

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

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

# Install Python modules
ament_python_install_package(test/)

# Install Python executables
install(PROGRAMS
  test/test_odometry.py
  test/test_inter_loop.py
  DESTINATION lib/${PROJECT_NAME}
)


ament_export_dependencies(rosidl_default_runtime)
ament_export_include_directories(include)
ament_package()