################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(turtlebot3_gazebo)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

if(MSVC)
  add_compile_definitions(_USE_MATH_DEFINES)
endif()

################################################################################
# Find ament packages and libraries for ament and system dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)

# Gazebo Classic conflicts with gz-tools2 on many Ubuntu installs. Only probe
# gazebo after gazebo_ros_pkgs is found, so gz-sim-only systems avoid CMake noise.
find_package(gazebo_ros_pkgs QUIET)
set(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE FALSE)
if(gazebo_ros_pkgs_FOUND)
  find_package(gazebo REQUIRED)
  set(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE TRUE)
endif()

################################################################################
# Build (optional Gazebo Classic plugins and turtlebot3_drive)
################################################################################
if(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE)
  message(STATUS "turtlebot3_gazebo: building Gazebo Classic plugins and turtlebot3_drive")

  link_directories(${GAZEBO_LIBRARY_DIRS})

  include_directories(
    include
    ${GAZEBO_INCLUDE_DIRS}
  )

  set(dependencies
    "geometry_msgs"
    "nav_msgs"
    "rclcpp"
    "sensor_msgs"
    "tf2"
  )

  set(EXEC_NAME "turtlebot3_drive")

  add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
  ament_target_dependencies(${EXEC_NAME} ${dependencies})

  add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
  target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})

  add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
  target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})

  add_library(obstacle1 SHARED src/obstacle1.cpp)
  target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})

  add_library(obstacle2 SHARED src/obstacle2.cpp)
  target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})

  add_library(obstacles SHARED src/obstacles.cpp)
  target_link_libraries(obstacles ${GAZEBO_LIBRARIES})

  install(TARGETS ${EXEC_NAME}
    DESTINATION lib/${PROJECT_NAME}
  )
else()
  message(STATUS "turtlebot3_gazebo: Gazebo Classic not found — skipping plugins "
 "(install ros-humble-gazebo-ros-pkgs only if it does not conflict with gz-sim on your system)")
endif()

################################################################################
# Install (always: resources for Gazebo Sim / gzweb / ROS 2 launch)
################################################################################
install(DIRECTORY launch models rviz urdf worlds config
  DESTINATION share/${PROJECT_NAME}/
)

install(PROGRAMS scripts/gen_office_gz_dartsim.py
  DESTINATION share/${PROJECT_NAME}/scripts
)

install(DIRECTORY include/
  DESTINATION include/
)

################################################################################
# Macro for ament package
################################################################################
ament_export_include_directories(include)
if(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE)
  ament_export_dependencies(gazebo_ros_pkgs)
endif()
ament_export_dependencies(geometry_msgs)
ament_export_dependencies(nav_msgs)
ament_export_dependencies(rclcpp)
ament_export_dependencies(sensor_msgs)
ament_export_dependencies(tf2)
ament_package()