cmake_minimum_required(VERSION 3.0.2)
project(turtlebot_controller)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  geometry_msgs
  sensor_msgs
  nav_msgs
  tf2
  tf2_ros
)
find_package(Eigen3 REQUIRED)

catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS 
std_msgs
geometry_msgs
sensor_msgs
nav_msgs
tf2
tf2_ros
DEPENDS Eigen3
#  DEPENDS system_lib
)

include_directories(
include

  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIRS}
)
  add_library(simple_controller src/simple_controller.cpp)
  add_dependencies(simple_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  target_link_libraries(simple_controller ${catkin_LIBRARIES} ${Eigen_LIBRARIES})

  add_executable(simple_controller_node nodes/simple_controller_node.cpp)
  add_dependencies(simple_controller_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  target_link_libraries(simple_controller_node ${catkin_LIBRARIES} simple_controller)



