cmake_minimum_required(VERSION 2.8.3)
project(ur3_demo_package)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  geometry_msgs
  message_generation
  tf2
  tf2_ros
  robotiq_2f_model
  ur_description
  roslib
  ur3ik
)

add_service_files(
  FILES
  ik.srv
  setrobconf.srv
  setobjpose.srv
)

add_message_files(
  FILES
  iksol.msg
)
    
generate_messages(
   DEPENDENCIES
   std_msgs
   geometry_msgs
)


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES ros_basics_pkg
   CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs message_runtime robotiq_2f_model ur_description ur3ik
#  DEPENDS system_lib
)

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

include_directories(
  ${catkin_INCLUDE_DIRS}
)

add_executable(ur3_demo_node src/ur3_demo_node.cpp)
add_executable(demo_ik src/demo_ik.cpp)

target_link_libraries(ur3_demo_node ${catkin_LIBRARIES})
target_link_libraries(demo_ik ${catkin_LIBRARIES})

add_dependencies(ur3_demo_node ${chesslab_setup_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(demo_ik ${chesslab_setup_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

#############
## Install ##
#############

#############
## Testing ##
#############
