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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2023-06-27 21:06:59 +08:00
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set(CMAKE_CXX_FLAGS "-O3 -fPIC -std=c++11")
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2021-09-01 20:46:41 +08:00
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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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2023-06-27 21:06:59 +08:00
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unitree_legged_sdk
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2021-09-01 20:46:41 +08:00
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)
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2022-05-26 15:45:21 +08:00
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catkin_package()
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2022-05-24 16:05:24 +08:00
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message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}")
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if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*")
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set(ARCH amd64)
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else()
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set(ARCH arm64)
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endif()
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2023-06-27 21:06:59 +08:00
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set(EXTRA_LIBS -pthread ${unitree_legged_sdk_LIBRARIES})
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2022-05-24 16:05:24 +08:00
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2021-09-01 20:46:41 +08:00
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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2023-06-27 21:06:59 +08:00
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${unitree_legged_sdk_INCLUDE_DIRS}
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2021-09-01 20:46:41 +08:00
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)
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2023-06-27 21:06:59 +08:00
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add_executable(ros_example_walk src/exe/example_walk.cpp)
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target_link_libraries(ros_example_walk ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(ros_example_walk ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2021-09-01 20:46:41 +08:00
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2023-06-27 21:06:59 +08:00
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add_executable(ros_example_position src/exe/example_position.cpp)
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target_link_libraries(ros_example_position ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(ros_example_position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2021-09-01 20:46:41 +08:00
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2022-05-24 16:05:24 +08:00
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add_executable(state_sub src/exe/state_sub.cpp)
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target_link_libraries(state_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(state_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2021-09-01 20:46:41 +08:00
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2022-05-24 16:05:24 +08:00
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add_executable(ros_udp src/exe/ros_udp.cpp)
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target_link_libraries(ros_udp ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(ros_udp ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2021-09-01 20:46:41 +08:00
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2022-05-27 11:24:44 +08:00
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add_executable(control_via_keyboard src/exe/control_via_keyboard.cpp)
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target_link_libraries(control_via_keyboard ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(control_via_keyboard ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(twist_sub src/exe/twist_sub.cpp)
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target_link_libraries(twist_sub ${EXTRA_LIBS} ${catkin_LIBRARIES})
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add_dependencies(twist_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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2022-10-21 14:28:23 +08:00
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