CMakeLists.txt

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
cmake_policy(SET CMP0042 NEW)
cmake_policy(SET CMP0048 NEW)
cmake_policy(SET CMP0054 NEW)

if (NOT CMAKE_INSTALL_PREFIX)
  set(CMAKE_INSTALL_PREFIX "/usr" CACHE STRING "install prefix" FORCE)
endif()

message(STATUS "install-prefix: ${CMAKE_INSTALL_PREFIX}")

project(parachute)
include(GNUInstallDirs)

#######################
## Find Dependencies ##
#######################

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")

# set c++11 or higher
#include(EnableC++XX)

## System dependencies are found with CMake's conventions
find_package(catkin REQUIRED COMPONENTS roscpp std_msgs gazebo_ros gazebo_ros_link_attacher)
find_package(Boost 1.58 REQUIRED COMPONENTS system thread filesystem)
find_package(gazebo REQUIRED)
find_package(PkgConfig REQUIRED)

# Note: If using catkin, Python 2 is found since it points
# to the Python libs installed with the ROS distro
if (NOT CATKIN_DEVEL_PREFIX)
	find_package(PythonInterp 3 REQUIRED)
else()
	find_package(PythonInterp REQUIRED)
endif()

pkg_check_modules(OGRE OGRE)

if("${GAZEBO_VERSION}" VERSION_LESS "8.0")
  include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})
else()
  include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS} ${Qt5Core_INCLUDE_DIRS})
endif()

link_directories(${GAZEBO_LIBRARY_DIRS})


catkin_package(
        DEPENDS
            gazebo_ros
            roscpp
            )
catkin_package(
    CATKIN_DEPENDS std_msgs gazebo_ros_link_attacher
)
include_directories(include ${catkin_INCLUDE_DIRS})

set(PROTOBUF_IMPORT_DIRS "")
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
  if(ITR MATCHES ".*gazebo-[0-9.]+$")
    set(PROTOBUF_IMPORT_DIRS "${ITR}/gazebo/msgs/proto")
  endif()
endforeach()


find_package(Protobuf REQUIRED)
pkg_check_modules(PROTOBUF protobuf)

if ("${PROTOBUF_VERSION}" VERSION_LESS "2.5.0")
  message(FATAL_ERROR "protobuf version: ${PROTOBUF_VERSION} not compatible, must be >= 2.5.0")
endif()

if("${GAZEBO_VERSION}" VERSION_LESS "6.0")
  message(FATAL_ERROR "You need at least Gazebo 6.0. Your version: ${GAZEBO_VERSION}")
else()
  message(STATUS "Gazebo version: ${GAZEBO_VERSION}")
endif()

find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
  # Fallback to cmake_modules
  find_package(Eigen QUIET)
  if(NOT EIGEN_FOUND)
    pkg_check_modules(EIGEN3 REQUIRED eigen3)
  else()
    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
  endif()
else()
  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()

###########
## Build ##
###########

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -std=c99 -Wno-deprecated-declarations -Wno-address-of-packed-member")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations -Wno-address-of-packed-member")

set(GAZEBO_MSG_INCLUDE_DIRS)
foreach(ITR ${GAZEBO_INCLUDE_DIRS})
  if(ITR MATCHES ".*gazebo-[0-9.]+$")
    set(GAZEBO_MSG_INCLUDE_DIRS "${ITR}/gazebo/msgs")
  endif()
endforeach()

include_directories(
  include

  ${Boost_INCLUDE_DIR}
  ${CMAKE_CURRENT_BINARY_DIR}
  ${EIGEN3_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}/eigen3	# Workaround for Eigen3
  ${GAZEBO_INCLUDE_DIRS}
  ${GAZEBO_MSG_INCLUDE_DIRS}
  ${MAVLINK_INCLUDE_DIRS}
  ${OGRE_INCLUDE_DIRS}
  ${OGRE_INCLUDE_DIRS}/Paging		# Workaround for "fatal error: OgrePagedWorldSection.h: No such file or directory"
  )


link_libraries(
  ${Boost_SYSTEM_LIBRARY_RELEASE}
  ${Boost_THREAD_LIBRARY_RELEASE}
  ${Boost_TIMER_LIBRARY_RELEASE}
  ${GAZEBO_LIBRARIES}
#  ${OpenCV_LIBRARIES}
  ${PROTOBUF_LIBRARY}
  )


link_directories(
  ${GAZEBO_LIBRARY_DIRS}
  ${CMAKE_CURRENT_BINARY_DIR}
  ${OGRE_LIBRARY_DIRS}
  )



#--------------------#
# Message Generation #
#--------------------#

set(physics2_msgs msgs/Wind.proto)

PROTOBUF_GENERATE_CPP(PHY_PROTO_SRCS PHY_PROTO_HDRS ${physics2_msgs})

add_library(physics2_msgs SHARED ${PHY_PROTO_SRCS})


#---------#
# Plugins #
#---------#

link_libraries(physics2_msgs)
add_library(test_parachute SHARED src/gazebo_parachute_plugin.cpp)

set(plugins
  test_parachute
  )

foreach(plugin ${plugins})
	target_link_libraries(${plugin} ${Boost_LIBRARIES} ${GAZEBO_LIBRARIES})
endforeach()

target_link_libraries(test_parachute ${catkin_LIBRARIES})


foreach(plugin ${plugins})
  add_dependencies(${plugin} physics2_msgs)
endforeach()