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unitree_ros_to_real
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add ROBOT_SDK variable to specify unitree_legged_sdk path, run 'catkin b -vi --cmake-args -DROBOT_SDK=/home/k-okada/catkin_ws/ws_unitree/src/' to change your local environment

This commit is contained in:
Kei Okada 2022-03-29 17:07:51 +09:00
parent 3c0fe3c97d
commit 9a2fbe800e
1 changed files with 6 additions and 4 deletions
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10
unitree_legged_real/CMakeLists.txt
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@ -19,12 +19,14 @@ include_directories(
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)
set(ROBOT_SDK ${CATKIN_DEVEL_PREFIX}/../../../src CACHE PATH "Location of unitree_legged_sdk directory")
message("-- ROBOT_SDK ${ROBOT_SDK}")
include_directories(${ROBOT_SDK}/unitree_legged_sdk/include)
link_directories(${ROBOT_SDK}/unitree_legged_sdk/lib)
string(CONCAT LEGGED_SDK_NAME libunitree_legged_sdk_amd64.so)
set(EXTRA_LIBS ${LEGGED_SDK_NAME} lcm)
add_executable(lcm_server /home/$ENV{USER}/Robot_SDK/unitree_legged_sdk/examples/lcm_server.cpp)
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})
@ -42,4 +44,4 @@ 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})
add_dependencies(walk_lcm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})