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

rosbuild_find_ros_package(actionlib)
include(${actionlib_PACKAGE_PATH}/cmake/actionbuild.cmake)
genaction()

rosbuild_init()
rosbuild_genmsg()
rosbuild_gensrv()

rosbuild_add_boost_directories()


rosbuild_add_library(topological_map src/region.cpp src/roadmap.cpp src/grid_graph.cpp 
                                     src/point_ops.cpp src/roadmap_msg.cpp 
                                     src/occupancy_grid.cpp src/incremental_roadmap.cpp)
rosbuild_link_boost(topological_map system)

rosbuild_add_gtest(test/test_topological_map test/test_topological_map.cpp)
target_link_libraries(test/test_topological_map topological_map)

rosbuild_add_executable(bin/roadmap_server src/roadmap_server.cpp)
target_link_libraries(bin/roadmap_server topological_map)

rosbuild_add_executable(bin/move_base_topo src/move_base_topo.cpp)
target_link_libraries(bin/move_base_topo topological_map)

rosbuild_add_executable(bin/deterministic_topo_planner src/deterministic_topo_planner.cpp)
target_link_libraries(bin/deterministic_topo_planner topological_map)

