55 lines
1.0 KiB
CMake
55 lines
1.0 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(unitree_go2_custom VERSION 1.0.0)
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# Set C++ standard
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Find required packages
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find_package(PkgConfig REQUIRED)
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find_package(Threads REQUIRED)
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# Find installed unitree_sdk2
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find_package(unitree_sdk2 REQUIRED)
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# MQTT library is no longer required
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# Find JSON library
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find_package(nlohmann_json REQUIRED)
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# Include directories
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${CMAKE_CURRENT_SOURCE_DIR}/include/nlohmann
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)
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# Source files
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set(SOURCES
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src/main.cpp
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src/controller.cpp
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src/custom_robot.cpp
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src/config.cpp
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src/logger.cpp
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# src/mqtt.cpp # Disabled MQTT for now
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)
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# Create executable with simple name
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add_executable(main ${SOURCES})
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# Link libraries
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target_link_libraries(main
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unitree_sdk2
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Threads::Threads
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)
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# Set output directory
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set_target_properties(main PROPERTIES
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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# Install target
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install(TARGETS main
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RUNTIME DESTINATION bin
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)
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