76 lines
1.6 KiB
CMake
76 lines
1.6 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 unitree_sdk2
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set(UNITREE_SDK2_PATH "${CMAKE_CURRENT_SOURCE_DIR}/../unitree_sdk2")
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if(NOT EXISTS ${UNITREE_SDK2_PATH})
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message(FATAL_ERROR "unitree_sdk2 not found at ${UNITREE_SDK2_PATH}")
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endif()
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# Add unitree_sdk2 as subdirectory
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add_subdirectory(${UNITREE_SDK2_PATH} unitree_sdk2)
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# Find MQTT library (Eclipse Paho)
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pkg_check_modules(PAHO_MQTT REQUIRED libpaho-mqtt3c)
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pkg_check_modules(PAHO_MQTTPP REQUIRED libpaho-mqttpp3)
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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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${CMAKE_CURRENT_SOURCE_DIR}/include
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${UNITREE_SDK2_PATH}/include
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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/mqtt.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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)
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# Create executable with simple name
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add_executable(main ${SOURCES})
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# Link libraries
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target_link_libraries(main
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unitree_sdk2
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${PAHO_MQTT_LIBRARIES}
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${PAHO_MQTTPP_LIBRARIES}
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nlohmann_json::nlohmann_json
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Threads::Threads
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)
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# Compiler options
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target_compile_options(main PRIVATE
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${PAHO_MQTT_CFLAGS_OTHER}
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${PAHO_MQTTPP_CFLAGS_OTHER}
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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 ${CMAKE_BINARY_DIR}
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)
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# Install target
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install(TARGETS main
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RUNTIME DESTINATION bin
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)
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# Copy config files
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install(FILES config/robot_config.json
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DESTINATION etc/${PROJECT_NAME}
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)
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