144 lines
3.9 KiB
CMake
144 lines
3.9 KiB
CMake
cmake_minimum_required(VERSION 3.0)
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project(z1_controller)
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add_definitions(-std=c++14)
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set(CMAKE_CXX_FLAGS "$ENV{CXXFLAGS} -O3")
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# set(GRIPPER MASS3KG) # 3kg
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# set(GRIPPER NONE) # No Gripper
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set(GRIPPER UNITREE_GRIPPER) # The gripper made by unitree
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set(COMMUNICATION UDP) # UDP
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# set(COMMUNICATION ROS) # ROS
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# set(CTRL_PANEL KEYBOARD) # control by keyboard
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set(CTRL_PANEL SDK) # control by SDK
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# set(CTRL_PANEL JOYSTICK) # control by joystick
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if(${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(${COMMUNICATION} STREQUAL "ROS")
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add_definitions(-DROS)
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set(SIMULATION ON)
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set(REAL_ROBOT OFF)
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else()
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message(FATAL_ERROR "[CMake ERROR] The COMMUNICATION is error")
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endif()
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if(((SIMULATION) AND (REAL_ROBOT)) OR ((NOT SIMULATION) AND (NOT REAL_ROBOT)))
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message(FATAL_ERROR "[CMake ERROR] The SIMULATION and REAL_ROBOT can only be one ON one OFF")
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endif()
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if(REAL_ROBOT)
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add_definitions(-DCOMPILE_WITH_REAL_ROBOT)
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endif()
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if(SIMULATION)
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add_definitions(-DCOMPILE_WITH_SIMULATION)
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add_definitions(-DRUN_ROS)
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find_package(gazebo REQUIRED)
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endif()
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if(DEBUG)
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add_definitions(-DCOMPILE_DEBUG)
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find_package(Python2 COMPONENTS Interpreter Development NumPy)
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endif()
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if(${GRIPPER} STREQUAL "NONE")
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add_definitions(-DNO_GRIPPER)
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elseif(${GRIPPER} STREQUAL "AG95")
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add_definitions(-DAG95)
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elseif(${GRIPPER} STREQUAL "MASS3KG")
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add_definitions(-DMASS3KG)
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elseif(${GRIPPER} STREQUAL "UNITREE_GRIPPER")
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add_definitions(-DUNITREE_GRIPPER)
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else()
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message(FATAL_ERROR "[CMake ERROR] The GRIPPER is error")
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endif()
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if(${CTRL_PANEL} STREQUAL "KEYBOARD")
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add_definitions(-DCTRL_BY_KEYBOARD)
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elseif(${CTRL_PANEL} STREQUAL "JOYSTICK")
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add_definitions(-DCTRL_BY_JOYSTICK)
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elseif(${CTRL_PANEL} STREQUAL "SDK")
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add_definitions(-DCTRL_BY_SDK)
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else()
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message(FATAL_ERROR "[CMake ERROR] The CTRL_PANEL is error")
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endif()
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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_library
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# file(GLOB_RECURSE ADD_SRC_LIST
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# src/*/*.cpp
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# src/*/*/*.cpp
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# thirdparty/*/src/*.cpp
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# thirdparty/*/src/*.cc
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# ../z1_sdk/src/*.cpp
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# )
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# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib) # SHARED:CMAKE_LIBRARY_OUTPUT_DIRECTORY STATIC:CMAKE_ARCHIVE_OUTPUT_DIRECTORY
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# add_library(Z1_${CTRL_PANEL}_${COMMUNICATION}_Linux64 SHARED ${ADD_SRC_LIST})
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# target_link_libraries(Z1_${CTRL_PANEL}_${COMMUNICATION}_Linux64 ${catkin_LIBRARIES} rbdl -pthread)
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# if(SIMULATION)
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# add_dependencies(Z1_${CTRL_PANEL}_${COMMUNICATION}_Linux64 ${${PEOJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# endif()
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# add_executable and target_link_libraries
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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 ${catkin_LIBRARIES} libUnitree_motor_SDK_Linux64_EPOLL.so libZ1_${CTRL_PANEL}_${COMMUNICATION}_Linux64.so)
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# debug
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if(DEBUG)
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find_package(PythonLibs REQUIRED)
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include_directories(${PYTHON_INCLUDE_DIRS})
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target_link_libraries(Z1_${CTRL_PANEL}_${COMMUNICATION}_Linux64 ${PYTHON_LIBRARIES})
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endif()
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# set(EXECUTABLE_OUTPUT_PATH /home/$ENV{USER}/) |