2021-09-01 20:46:41 +08:00
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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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2022-02-15 15:14:35 +08:00
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include_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/include)
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link_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/lib)
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string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so)
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2021-09-02 18:24:10 +08:00
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set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
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2022-02-15 15:14:35 +08:00
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add_executable(lcm_server /home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp)
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2021-09-02 18:24:10 +08:00
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target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2021-09-01 20:46:41 +08:00
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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})
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