From 8528fde23091208a6a4b06a416f22c8b33918756 Mon Sep 17 00:00:00 2001 From: Kei Okada Date: Tue, 29 Mar 2022 17:09:17 +0900 Subject: [PATCH] check system processor and set libunitree_legged_sdk.so --- unitree_legged_real/CMakeLists.txt | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/unitree_legged_real/CMakeLists.txt b/unitree_legged_real/CMakeLists.txt index 43dee3c..d5b628c 100755 --- a/unitree_legged_real/CMakeLists.txt +++ b/unitree_legged_real/CMakeLists.txt @@ -21,7 +21,13 @@ set(CMAKE_CXX_FLAGS "-O3") include_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/include) link_directories(/home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/lib) -string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so) +message("-- CMAKE_SYSTEM_PROCESSOR: ${CMAKE_SYSTEM_PROCESSOR}") +if("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "x86_64.*") + set(ARCH amd64) +else() + set(ARCH arm64) +endif() +string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_${ARCH}.so) set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm) add_executable(lcm_server /home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp) @@ -42,4 +48,4 @@ add_dependencies(torque_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTE add_executable(walk_lcm src/exe/walk_mode.cpp) target_link_libraries(walk_lcm ${EXTRA_LIBS} ${catkin_LIBRARIES}) -add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) \ No newline at end of file +add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})