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)

list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

find_package(Eigen REQUIRED)
include_directories(SYSTEM ${EIGEN_INCLUDE_DIRS})

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


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()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

#rosbuild_add_executable(uvc_stereo src/uvc_stereo.cpp src/uvc_cam.cpp)

#rosbuild_add_executable(frame_node src/frame_broadcast_node.cpp)

# add dynamic reconfigure api
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
gencfg()

#rosbuild_add_executable (grasp_adjust_server
#                          src/grasp_adjust_server.cpp
#                          src/grasp_adjust.cpp
#                          src/gripper_model.cpp
#                          src/helpers.cpp
#
#                          srv/GraspAdjust.srv
#                          cfg/Estimate.cfg
#                          cfg/Debug.cfg
#                          manifest.xml
#                          )

rosbuild_add_executable (grasp_adjust_action_server
                          src/grasp_adjust_action_server.cpp
                          src/grasp_adjust.cpp
                          src/gripper_model.cpp
                          src/helpers.cpp

                          action/GraspAdjust.action
                          cfg/Estimate.cfg
                          cfg/Debug.cfg
                          manifest.xml
                          )

