61 lines
2.3 KiB
CMake
Executable File
61 lines
2.3 KiB
CMake
Executable File
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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roscpp
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geometry_msgs
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unitree_legged_msgs
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)
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catkin_package()
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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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)
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set(CMAKE_CXX_FLAGS "-O3")
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if( $ENV{UNITREE_SDK_VERSION} STREQUAL "3_1")
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include_directories($ENV{ALIENGO_SDK_PATH}/include)
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link_directories($ENV{ALIENGO_SDK_PATH}/lib)
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string(CONCAT LEGGED_SDK_NAME libaliengo_comm.so)
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set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
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add_definitions(-DSDK3_1)
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add_executable(lcm_server_3_1 $ENV{ALIENGO_SDK_PATH}/examples/lcm_server.cpp)
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target_link_libraries(lcm_server_3_1 ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(lcm_server_3_1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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elseif( $ENV{UNITREE_SDK_VERSION} STREQUAL "3_2")
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include_directories($ENV{UNITREE_LEGGED_SDK_PATH}/include)
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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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add_definitions(-DSDK3_2)
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add_executable(lcm_server_3_2 $ENV{UNITREE_LEGGED_SDK_PATH}/examples/lcm_server.cpp)
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target_link_libraries(lcm_server_3_2 ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(lcm_server_3_2 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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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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add_dependencies(position_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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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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add_dependencies(velocity_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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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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add_dependencies(torque_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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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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add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) |