cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#EXECUTABLE atlascar_base
rosbuild_add_executable(plc_base src/plc_base.cpp src/class_atlascar.cpp)

#EXECUTABLE atlascar_transforms
rosbuild_add_executable(state_example src/state_example.cpp)

#EXECUTABLE atlascar_egomotion
rosbuild_add_executable(odometry src/odometry.cpp)

#EXECUTABLE atlascar_additional_monitoring
rosbuild_add_executable(additional_monitoring src/additional_monitoring.cpp src/class_additional_monitoring.cpp)

#EXECUTABLE atlascar_velocity_status
rosbuild_add_executable(velocity_status src/velocity_status.cpp)
#
rosbuild_add_executable(command_publisher src/command_publisher.cpp  src/class_gamepad.cpp)

rosbuild_add_executable(command_publisher_high src/command_publisher_high.cpp  src/class_gamepad.cpp)

rosbuild_add_executable(status_publisher src/status_publisher.cpp)

rosbuild_add_executable(gearcomm src/gearcomm.cpp)

rosbuild_add_library(command_priority src/command_priority.cpp)

rosbuild_add_executable(plc src/plc_node.cpp src/plc.cpp)
target_link_libraries(plc command_priority)

rosbuild_add_executable(driver src/driver_node.cpp src/driver.cpp)
target_link_libraries(driver command_priority)

rosbuild_add_executable(throttle src/throttle_node.cpp src/throttle.cpp)
target_link_libraries(driver command_priority)

rosbuild_add_executable(gearbox src/gearbox_node.cpp src/gearbox.cpp)
target_link_libraries(gearbox command_priority)

rosbuild_add_executable(manager src/manager_node.cpp src/manager.cpp)
target_link_libraries(manager command_priority)

rosbuild_add_executable(velocity src/velocity_node.cpp src/velocity.cpp)
target_link_libraries(velocity command_priority)


find_package(LibXml2 REQUIRED LibXml2)

include_directories(${LIBXML2_INCLUDE_DIR})
rosbuild_add_executable(show_axes src/show_axes.cpp)

target_link_libraries(show_axes ${LIBXML2_LIBRARIES})