42 lines
870 B
CMake
42 lines
870 B
CMake
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cmake_minimum_required(VERSION 3.0.2)
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project(z1_controller)
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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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std_msgs
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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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geometry_msgs
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unitree_legged_msgs
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tf
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)
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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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${catkin_INCLUDE_DIRS}
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${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} ${GAZEBO_CXX_FLAGS}")
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add_library(${PROJECT_NAME}
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src/unitreeArm.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_executable(unitree_move_z1 src/basic.cpp)
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target_link_libraries(unitree_move_z1 ${PROJECT_NAME} ${catkin_LIBRARIES})
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