From ecb4c602a125abe6b94dfd71a524b60295ab3c9c Mon Sep 17 00:00:00 2001
From: Sucan126 <632190820@qq.com>
Date: Sun, 7 Sep 2025 17:11:20 +0800
Subject: [PATCH] Refactor CMake configuration to find installed unitree_sdk2
 package instead of using a local path. Removed obsolete subdirectory addition
 and include paths. Cleaned up unnecessary install commands for config files.

---
 CMakeLists.txt | 15 ++-------------
 1 file changed, 2 insertions(+), 13 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83b17e6..5291d57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,14 +9,8 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 find_package(PkgConfig REQUIRED)
 find_package(Threads REQUIRED)
 
-# Find unitree_sdk2
-set(UNITREE_SDK2_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../unitree_sdk2")
-if(NOT EXISTS ${UNITREE_SDK2_PATH})
-    message(FATAL_ERROR "unitree_sdk2 not found at ${UNITREE_SDK2_PATH}")
-endif()
-
-# Add unitree_sdk2 as subdirectory
-add_subdirectory(${UNITREE_SDK2_PATH} unitree_sdk2)
+# Find installed unitree_sdk2
+find_package(unitree_sdk2 REQUIRED)
 
 # Find MQTT library (Eclipse Paho)
 pkg_check_modules(PAHO_MQTT REQUIRED libpaho-mqtt3c)
@@ -28,7 +22,6 @@ find_package(nlohmann_json REQUIRED)
 # Include directories
 include_directories(
     ${CMAKE_CURRENT_SOURCE_DIR}/include
-    ${UNITREE_SDK2_PATH}/include
 )
 
 # Source files
@@ -69,7 +62,3 @@ install(TARGETS main
     RUNTIME DESTINATION bin
 )
 
-# Copy config files
-install(FILES config/robot_config.json
-    DESTINATION etc/${PROJECT_NAME}
-)