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

rosbuild_find_ros_package(actionlib_msgs)
include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake)
genaction()

rosbuild_init()
rosbuild_genmsg()
rosbuild_gensrv()

rosbuild_add_boost_directories()


rosbuild_add_library(navigation_graph src/navigation_graph.cpp src/roadmap.cpp src/roadmap_msg.cpp)
target_link_libraries(navigation_graph pose_graph)
target_link_libraries(navigation_graph grid_utils)
                                       
rosbuild_add_executable(bin/move_base_topo src/move_base_topo.cpp)
target_link_libraries(bin/move_base_topo navigation_graph)

rosbuild_add_executable(bin/nav_graph_builder src/nav_graph_builder.cpp)
target_link_libraries(bin/nav_graph_builder navigation_graph)
target_link_libraries(bin/nav_graph_builder graph_slam)

rosbuild_add_gtest(bin/test_navigation_graph test/test_navigation_graph.cpp)
target_link_libraries(bin/test_navigation_graph navigation_graph)

rosbuild_add_gtest(bin/test_roadmap test/test_roadmap.cpp)
target_link_libraries(bin/test_roadmap navigation_graph)

rosbuild_add_rostest(test/roadmap_hz_test.launch)