cmake_minimum_required(VERSION 3.5.1)
project(mir_navigation)

find_package(catkin REQUIRED COMPONENTS
  roslaunch
  move_base
  amcl
  nav_core_adapter
  base_local_planner
  dwb_local_planner
  dwb_plugins
  dwb_critics
  sbpl_lattice_planner
  teb_local_planner
  map_server
)

###################################
## catkin specific configuration ##
###################################
catkin_package()

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

# Mark executable scripts (Python etc.) for installation
# in contrast to setup.py, you can choose the destination
install(PROGRAMS
  mprim/genmprim_unicycle_highcost_5cm.py
  nodes/acc_finder.py
  nodes/min_max_finder.py
  scripts/plot_mprim.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables and/or libraries for installation
# install(TARGETS mir_navigation mir_navigation_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

# Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY
  config
  launch
  mprim
  rviz
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_mir_navigation.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

roslaunch_add_file_check(launch)