Sucan126
6c8a4a3b38
- Changed the signature of TrajectoryFollow to accept a vector of unitree::robot::go2::PathPoint instead of std::array<float, 6>. - Updated the implementation of TrajectoryFollow in controller.cpp to utilize the new path type. - Removed unnecessary status message in CMakeLists.txt related to unitree_sdk2 detection. - Added a new function in custom_robot.cpp to create example trajectories for different path types (line, square, circle) and integrated it into the command processing for TrajectoryFollow.
64 lines
1.4 KiB
CMake
64 lines
1.4 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(main)
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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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# Try to find PahoMqttC, fallback to manual linking if not found
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find_package(PahoMqttC QUIET)
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if(NOT PahoMqttC_FOUND)
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message(STATUS "PahoMqttC package not found, using manual library linking")
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find_library(PAHO_MQTT_C_LIBRARY NAMES paho-mqtt3c REQUIRED)
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find_path(PAHO_MQTT_C_INCLUDE_DIR NAMES MQTTClient.h REQUIRED)
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endif()
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find_package(unitree_sdk2 REQUIRED)
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# Include directories
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include_directories(
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include
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${CMAKE_CURRENT_SOURCE_DIR}/include/nlohmann
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$<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_INCLUDE_DIR}>
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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
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src/navigation.cpp
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src/low_controller.cpp
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src/recharge.cpp
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)
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add_executable(main ${SOURCES})
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# Link libraries
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target_link_libraries(main
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PRIVATE
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unitree_sdk2
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Threads::Threads
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$<$<BOOL:${PahoMqttC_FOUND}>:PahoMqttC::PahoMqttC>
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$<$<NOT:$<BOOL:${PahoMqttC_FOUND}>>:${PAHO_MQTT_C_LIBRARY}>
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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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