100 lines
2.6 KiB
CMake
100 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.18 FATAL_ERROR)
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set(CMAKE_CXX_STANDARD 17)
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project(rl_quadruped_controller)
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if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif ()
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set(CMAKE_BUILD_TYPE Release)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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find_package(ament_cmake REQUIRED)
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find_package(Torch REQUIRED)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
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find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
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find_package(Python3 COMPONENTS NumPy)
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find_package(yaml-cpp REQUIRED)
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set(dependencies
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pluginlib
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rcpputils
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controller_interface
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realtime_tools
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control_input_msgs
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kdl_parser
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)
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# find dependencies
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foreach (Dependency IN ITEMS ${dependencies})
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find_package(${Dependency} REQUIRED)
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endforeach ()
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add_library(${PROJECT_NAME} SHARED
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src/RlQuadrupedController.cpp
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src/common/ObservationBuffer.cpp
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src/FSM/StatePassive.cpp
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src/FSM/StateFixedStand.cpp
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src/FSM/StateFixedDown.cpp
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src/FSM/StateRL.cpp
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src/control/LowPassFilter.cpp
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src/control/Estimator.cpp
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src/robot/QuadrupedRobot.cpp
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src/robot/RobotLeg.cpp
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)
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
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PRIVATE
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${YAML_CPP_INCLUDE_DIR}
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src)
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target_link_libraries(${PROJECT_NAME} PUBLIC
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"${TORCH_LIBRARIES}"
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yaml-cpp
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)
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ament_target_dependencies(
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${PROJECT_NAME} PUBLIC
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${dependencies}
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)
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pluginlib_export_plugin_description_file(controller_interface rl_quadruped_controller.xml)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT export_${PROJECT_NAME}
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ARCHIVE DESTINATION lib/${PROJECT_NAME}
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LIBRARY DESTINATION lib/${PROJECT_NAME}
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RUNTIME DESTINATION bin
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)
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ament_export_dependencies(${dependencies})
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ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
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if (BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif ()
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ament_package()
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