90 lines
2.2 KiB
CMake
90 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.0)
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project(z1_controller LANGUAGES CXX)
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add_definitions(-std=c++14)
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set(PACKAGE_NAME z1_controller)
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set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
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# ----------------------options----------------------
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set(COMMUNICATION UDP) # UDP
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# set(COMMUNICATION ROS) # ROS
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# ----------------------configurations----------------------
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# COMMUNICATION
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if(${COMMUNICATION} STREQUAL "UDP")
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add_definitions(-DUDP)
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set(SIMULATION OFF)
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set(REAL_ROBOT ON)
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elseif(${COMMUNICATION} STREQUAL "ROS")
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add_definitions(-DROS)
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set(SIMULATION ON)
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set(REAL_ROBOT OFF)
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else()
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message(FATAL_ERROR "[CMake ERROR] The COMMUNICATION is error")
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endif()
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# SIM OR REAL
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if(((SIMULATION) AND (REAL_ROBOT)) OR ((NOT SIMULATION) AND (NOT REAL_ROBOT)))
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message(FATAL_ERROR "[CMake ERROR] The SIMULATION and REAL_ROBOT can only be one ON one OFF")
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endif()
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if(REAL_ROBOT)
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add_definitions(-DCOMPILE_WITH_REAL_ROBOT)
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endif()
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if(SIMULATION)
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add_definitions(-DCOMPILE_WITH_SIMULATION)
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add_definitions(-DRUN_ROS)
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find_package(gazebo REQUIRED)
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endif()
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# ARM_MODEL
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add_definitions(-DARM_Z1)
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if(SIMULATION)
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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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)
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catkin_package(
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CATKIN_DEPENDS
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)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${GAZEBO_INCLUDE_DIRS}
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)
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link_directories(
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${GAZEBO_LIBRARY_DIRS}
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)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
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endif()
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set(EIGEN_PATH /usr/include/eigen3)
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include_directories(
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include
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thirdparty
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../z1_sdk/include
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${Boost_INCLUDE_DIR}
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${EIGEN_PATH}
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)
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link_directories(lib)
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# ----------------------add executable----------------------
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set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../build) # EXECUTABLE:CMAKE_RUNTIME_OUTPUT_DIRECTORY
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add_executable(z1_ctrl main.cpp)
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target_link_libraries(z1_ctrl ${catkin_LIBRARIES} libUnitree_motor_SDK_Linux64_EPOLL.so libZ1_${COMMUNICATION}_Linux64.so)
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# set(EXECUTABLE_OUTPUT_PATH /home/$ENV{USER}/)
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