cmake_minimum_required(VERSION 3.8)
project(simple_slam)

set(CMAKE_CXX_STANDARD 23)

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(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)# uncomment the following section in order to fill in
find_package(nav_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(Ceres REQUIRED)
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(Eigen3 REQUIRED NO_MODULE)
find_package(TBB REQUIRED)
find_package(Sophus REQUIRED)

add_executable(simpleslam src/simpleslam_node.cpp )
ament_target_dependencies(simpleslam rclcpp sensor_msgs nav_msgs)
target_link_libraries(simpleslam Ceres::ceres Eigen3::Eigen TBB::tbb Sophus::Sophus)


# include_directories(include lib/karto_sdk/include
#                             ${EIGEN3_INCLUDE_DIRS}
#                             ${CERES_INCLUDES}
# )

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


if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  ament_add_gtest(simpleslam_test test/orthtree_test.cpp)
  target_include_directories(simpleslam_test PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
  )
  target_link_libraries(simpleslam_test Ceres::ceres Eigen3::Eigen TBB::tbb Sophus::Sophus)
endif()

ament_package()