70 lines
1.7 KiB
CMake
70 lines
1.7 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(mdog_simple_controller)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rc_msgs REQUIRED)
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find_package(control_input_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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include_directories(
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include
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)
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add_executable(mdog_simple_controller
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src/mdog_simple_controller.cpp
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src/FSM/state_safe.cpp
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src/FSM/state_zero.cpp
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src/FSM/state_walk.cpp
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src/FSM/state_balance.cpp
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src/FSM/state_troting.cpp
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src/common/kinematics.cpp
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src/common/user_math.cpp
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src/common/bezier_curve.cpp
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src/common/pid.cpp
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)
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ament_target_dependencies(mdog_simple_controller rclcpp rc_msgs std_msgs control_input_msgs geometry_msgs sensor_msgs )
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# add_executable(mdog_sim_controller
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# src/mdog_sim_controller.cpp
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# src/FSM/state_safe.cpp
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# src/FSM/state_zero.cpp
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# src/FSM/state_balance.cpp
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# src/FSM/state_troting.cpp
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# src/common/kinematics.cpp
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# src/common/user_math.cpp
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# src/common/bezier_curve.cpp
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# )
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# ament_target_dependencies(mdog_sim_controller rclcpp rc_msgs std_msgs control_input_msgs geometry_msgs sensor_msgs)
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install(TARGETS
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mdog_simple_controller
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# mdog_sim_controller
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DESTINATION lib/${PROJECT_NAME}
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)
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install(
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DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY include/
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DESTINATION include
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package() |