From 36a877d878185660c6c94e0bbceb1839fb6f281e Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Sat, 28 May 2022 15:22:06 +0900
Subject: [PATCH] use FindPkgConfig to set include_directories and
 link_directories

---
 unitree_legged_real/CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt
index 57d6062..895df3b 100755
--- a/unitree_legged_real/CMakeLists.txt
+++ b/unitree_legged_real/CMakeLists.txt
@@ -34,6 +34,11 @@ endif()
 string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_${ARCH}.so)
 set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
 
+include(FindPkgConfig)
+pkg_check_modules(LCM lcm REQUIRED)
+include_directories(${LCM_INCLUDE_DIRS})
+link_directories(${LCM_LIBDIR})
+
 add_executable(lcm_server ${ROBOT_SDK}/unitree_legged_sdk/examples/lcm_server.cpp)
 target_link_libraries(lcm_server ${EXTRA_LIBS} ${catkin_LIBRARIES})
 add_dependencies(lcm_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})