2020-07-15 11:21:03 +08:00
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cmake_minimum_required(VERSION 2.8.3)
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project(unitree_legged_real)
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add_compile_options(-std=c++11)
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find_package(catkin REQUIRED COMPONENTS
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controller_manager
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roscpp
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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(Eigen3 REQUIRED)
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catkin_package(
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)
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include_directories(
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# /home/unitree/unitree_legged_sdk/include
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include
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${Boost_INCLUDE_DIR}
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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# /home/bian/unitree_legged_sdk/include/unitree_legged_sdk
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$ENV{UNITREE_LEGGED_SDK_PATH}/include
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)
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link_directories($ENV{UNITREE_LEGGED_SDK_PATH}/lib)
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string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_$ENV{UNITREE_PLATFORM}.so)
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set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
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set(CMAKE_CXX_FLAGS "-O3")
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add_executable(position_lcm src/exe/position_mode.cpp)
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target_link_libraries(position_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
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2020-07-15 15:49:32 +08:00
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add_dependencies(position_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2020-07-15 11:21:03 +08:00
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add_executable(velocity_lcm src/exe/velocity_mode.cpp)
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target_link_libraries(velocity_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
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2020-07-15 15:49:32 +08:00
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add_dependencies(velocity_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2020-07-15 11:21:03 +08:00
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add_executable(torque_lcm src/exe/torque_mode.cpp)
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target_link_libraries(torque_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
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2020-07-15 15:49:32 +08:00
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add_dependencies(torque_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2020-07-15 11:21:03 +08:00
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add_executable(walk_lcm src/exe/walk_mode.cpp)
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target_link_libraries(walk_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES})
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2020-07-15 15:49:32 +08:00
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add_dependencies(walk_lcm ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2020-07-15 11:21:03 +08:00
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add_executable(lcm_server $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
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2020-07-15 15:49:32 +08:00
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target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(lcm_server ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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