cmake_minimum_required(VERSION 2.8.3)
project(teleoperation)

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
  tf
  aruco
  message_generation
  actionlib_msgs
)

add_service_files(
    DIRECTORY srv
    FILES
    InformMasterloop.srv
    Hands.srv
)

add_action_files(
    DIRECTORY action
    FILES
    RequestSpeech.action
    )

generate_messages(DEPENDENCIES actionlib_msgs std_msgs)

catkin_package(
    CATKIN_DEPENDS message_runtime actionlib_msgs
    INCLUDE_DIRS include
)

include_directories(
    include
    ${catkin_INCLUDE_DIRS}
)

catkin_install_python(PROGRAMS
    ./script/calibrator.py
    ./script/masterloop.py
    ./script/walker.py
    ./script/fall_detector.py
    ./script/imitator.py
    ./script/hand_ler.py
    ./script/speech_server.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

add_executable(aruco_detector src/aruco_detector.cpp)
add_executable(rviz_human src/rviz_human.cpp)

target_link_libraries(aruco_detector ${catkin_LIBRARIES})
target_link_libraries(rviz_human ${catkin_LIBRARIES} yaml-cpp)