58 lines
1.4 KiB
CMake
58 lines
1.4 KiB
CMake
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cmake_minimum_required(VERSION 2.8.3)
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project(unitree_controller)
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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(gazebo 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(
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include
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${Boost_INCLUDE_DIR}
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${catkin_INCLUDE_DIRS}
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${GAZEBO_INCLUDE_DIRS}
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)
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link_directories(${GAZEBO_LIBRARY_DIRS})
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
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# Declare a C++ library
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add_library(${PROJECT_NAME}
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src/body.cpp
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)
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add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
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target_link_libraries(${PROJECT_NAME}
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${catkin_LIBRARIES} ${EXTRA_LIBS}
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)
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# add_library(unitreeFootContactPlugin SHARED plugin/foot_contact_plugin.cc)
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# target_link_libraries(unitreeFootContactPlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
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# add_library(unitreeDrawForcePlugin SHARED plugin/draw_force_plugin.cc)
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# target_link_libraries(unitreeDrawForcePlugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
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add_executable(unitree_external_force src/external_force.cpp)
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target_link_libraries(unitree_external_force ${catkin_LIBRARIES})
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add_executable(unitree_servo src/servo.cpp)
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target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
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