cmake_minimum_required(VERSION 3.0.2)
project(depth_local_costmap_noetic_test LANGUAGES CXX)

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

find_package(catkin REQUIRED COMPONENTS
  data_convert
  geometry_msgs
  nav_msgs
  robot_depth_image_proc
  robot_costmap_2d
  robot_cpp
  robot_geometry_msgs
  robot_sensor_msgs
  robot_time
  roscpp
  sensor_msgs
  tf2_ros
)

find_library(TF3_LIBRARY
  NAMES tf3
  PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
)

if(NOT TF3_LIBRARY)
  message(FATAL_ERROR "tf3 library not found")
endif()

catkin_package()

add_executable(depth_local_costmap_noetic_test_node
  src/depth_local_costmap_noetic_test_node.cpp
)

target_include_directories(depth_local_costmap_noetic_test_node
  PRIVATE
    ${catkin_INCLUDE_DIRS}
)

target_link_libraries(depth_local_costmap_noetic_test_node
  PRIVATE
    ${catkin_LIBRARIES}
    ${TF3_LIBRARY}
)

add_dependencies(depth_local_costmap_noetic_test_node
  ${catkin_EXPORTED_TARGETS}
)

install(TARGETS depth_local_costmap_noetic_test_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY config launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)