Add header files to use, specify API

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 24a3ca2cc8aa8539ae3c6539dfa89890077b20c8..47d41c49e29fbe42cf4bbf3e5564b2096e5e0ef3 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,6 +5,8 @@ find_package(
         catkin REQUIRED COMPONENTS
         roscpp
         obstacle_msgs
+        geometry_msgs
+        message_generation
 )
 
 ADD_DEFINITIONS(-DPLANNER=T2)
@@ -14,6 +16,17 @@ 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
 

diff --git a/base/ros.cc b/base/ros.cc
index f16d604ee789254a9f488ea25c505c1db656c43c..1484ff70b12c302cfda91215b7e6eb7b73daabad 100644 (file)
--- a/base/ros.cc
+++ b/base/ros.cc
@@ -18,6 +18,16 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "ros/ros.h"
 #include "obstacle_msgs/Obstacles.h"
 
+#include "compile.h"
+#include "obstacle.h"
+#include "rrtplanner.h"
+#include "slotplanner.h"
+
+#define USE_TMAX
+//#define USE_SLOTPLANNER
+
+
+
 int main(int argc, char **argv)
 {
         ros::init(argc, argv, "iamcar");

diff --git a/package.xml b/package.xml
index 8630d5e6fed6c1f2ed6025754e5e2e733d54351e..c0fedd59c864102eee3f0ffef5df9deb65e876d4 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -8,6 +8,8 @@
        <maintainer email="hubacji1@fel.cvut.cz">Jiri Vlasak</maintainer>
        <license>GPLv3</license>
         <buildtool_depend>catkin</buildtool_depend>
+        <build_depend>message_generation</build_depend>
+        <exec_depend>message_runtime</exec_depend>
         <depend>
                 obstacle_msgs
         </depend>

diff --git a/srv/Park.srv b/srv/Park.srv
new file mode 100644 (file)
index 0000000..2e7bf2c
--- /dev/null
+++ b/srv/Park.srv
@@ -0,0 +1,5 @@
+geometry_msgs/Pose init
+geometry_msgs/Pose goal
+obstacle_msgs/ParkingSlot slot
+---
+geometry_msgs/Pose[] path