unitree_ros/unitree_legged_real/CMakeLists.txt

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CMake
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cmake_minimum_required(VERSION 2.8.3)
project(unitree_legged_real)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
controller_manager
roscpp
tf
geometry_msgs
unitree_legged_msgs
)
find_package(Eigen3 REQUIRED)
catkin_package(
)
include_directories(
# /home/unitree/unitree_legged_sdk/include
include
${Boost_INCLUDE_DIR}
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
# /home/bian/unitree_legged_sdk/include/unitree_legged_sdk
$ENV{UNITREE_LEGGED_SDK_PATH}/include
)
link_directories($ENV{UNITREE_LEGGED_SDK_PATH}/lib)
string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_$ENV{UNITREE_PLATFORM}.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
set(CMAKE_CXX_FLAGS "-O3")
add_executable(position_lcm src/exe/position_mode.cpp)
target_link_libraries(position_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(position_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(velocity_lcm src/exe/velocity_mode.cpp)
target_link_libraries(velocity_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(velocity_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(torque_lcm src/exe/torque_mode.cpp)
target_link_libraries(torque_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(torque_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(walk_lcm src/exe/walk_mode.cpp)
target_link_libraries(walk_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(walk_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(lcm_server $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(lcm_server ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})