cmake_minimum_required(VERSION 3.5)
project(iamcar)

find_package(
        catkin REQUIRED COMPONENTS
        roscpp
        rospy
        obstacle_msgs
        geometry_msgs
        message_generation
)

ADD_DEFINITIONS(-DPLANNER=T2)
ADD_DEFINITIONS(-DTMAX=0.1)

add_compile_options(-Wall -g -Wno-unknown-pragmas --std=c++11)
include_directories(incl)
include_directories(${catkin_INCLUDE_DIRS})

add_service_files(
        FILES
        Park.srv
)

generate_messages(
        DEPENDENCIES
        obstacle_msgs
        geometry_msgs
)

catkin_package()
add_executable(go_car_go

        base/ros.cc

        base/nn.cc
        base/nv.cc
        base/sample.cc
        base/rrtbase.cc
        base/rrtnode.cc

        decision_control/rrtplanner.cc
        decision_control/slotplanner.cc

        perception/obstacle.cc

        vehicle_platform/bcar.cc
        vehicle_platform/cost.cc
        vehicle_platform/reeds_shepp.cpp
        vehicle_platform/steer.cc
)
target_link_libraries(go_car_go ${catkin_LIBRARIES})