mirror of https://github.com/fan-ziqi/rl_sar.git
79 lines
2.2 KiB
CMake
79 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(rl_sar)
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add_definitions(-DCMAKE_CURRENT_SOURCE_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
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set(CMAKE_BUILD_TYPE Debug)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
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find_package(Torch REQUIRED)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
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find_package(gazebo REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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controller_manager
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genmsg
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joint_state_controller
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robot_state_publisher
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roscpp
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gazebo_ros
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std_msgs
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tf
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geometry_msgs
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unitree_legged_msgs
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)
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find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
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catkin_package(
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CATKIN_DEPENDS
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unitree_legged_msgs
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)
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include_directories(library/unitree_legged_sdk_3.2/include)
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link_directories(library/unitree_legged_sdk_3.2/lib)
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set(EXTRA_LIBS -pthread libunitree_legged_sdk_amd64.so lcm)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${unitree_legged_sdk_INCLUDE_DIRS}
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../unitree_controller/include
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library/matplotlibcpp
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)
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add_library(rl library/rl/rl.cpp library/rl/rl.hpp)
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target_link_libraries(rl "${TORCH_LIBRARIES}" Python3::Python Python3::Module)
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set_property(TARGET rl PROPERTY CXX_STANDARD 14)
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find_package(Python3 COMPONENTS NumPy)
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if(Python3_NumPy_FOUND)
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target_link_libraries(rl Python3::NumPy)
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else()
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target_compile_definitions(rl WITHOUT_NUMPY)
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endif()
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add_library(observation_buffer library/observation_buffer/observation_buffer.cpp library/observation_buffer/observation_buffer.hpp)
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target_link_libraries(observation_buffer "${TORCH_LIBRARIES}")
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set_property(TARGET observation_buffer PROPERTY CXX_STANDARD 14)
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add_executable(rl_sim src/rl_sim.cpp )
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target_link_libraries(rl_sim
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${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}"
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rl observation_buffer
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)
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add_executable(rl_real src/rl_real.cpp )
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target_link_libraries(rl_real
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${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}"
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rl observation_buffer
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)
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add_subdirectory(library/cyberdog_motor_sdk)
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include_directories(library/cyberdog_motor_sdk/include)
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add_executable(rl_real_cyberdog src/rl_real_cyberdog.cpp )
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target_link_libraries(rl_real_cyberdog
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${catkin_LIBRARIES} ${EXTRA_LIBS} "${TORCH_LIBRARIES}"
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rl observation_buffer cyberdog_motor_sdk
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) |