cmake_minimum_required(VERSION 3.8)
project(align_start_heading_bt)

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

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(behaviortree_cpp_v3 REQUIRED)
find_package(nav2_behavior_tree REQUIRED)

add_library(align_start_heading_bt_node SHARED src/align_start_heading_action.cpp)
target_compile_definitions(align_start_heading_bt_node PRIVATE BT_PLUGIN_EXPORT)
target_include_directories(align_start_heading_bt_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_link_libraries(align_start_heading_bt_node
  ${nav2_behavior_tree_LIBRARIES})
ament_target_dependencies(align_start_heading_bt_node
  rclcpp
  rclcpp_action
  nav2_msgs
  nav_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  behaviortree_cpp_v3
  nav2_behavior_tree)

install(TARGETS align_start_heading_bt_node
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin)
install(DIRECTORY include/ DESTINATION include)

ament_package()