Robofish
0a6fd76f0d
- 添加ROS2条件编译支持，自动检测ROS2环境 - 创建GimbalROS类，使用rm_msgs进行ROS2通信 - 发布data_aim话题（DataAim消息） - 订阅data_mcu话题（DataMCU消息） - 新增sentry_mpc程序，使用ROS2通信的哨兵自瞄 - 新增capture_ros程序，使用ROS2通信的标定采集 - 更新README.md，添加完整的ROS2使用说明 - 移除旧的sentry相关程序，统一使用sentry_mpc Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
51 lines
1.5 KiB
CMake
51 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 3.16)
|
||
|
||
find_package(yaml-cpp REQUIRED)
|
||
|
||
add_subdirectory(serial)
|
||
|
||
# 创建目标 device
|
||
set(DEVICE_SOURCES
|
||
hikrobot/hikrobot.cpp
|
||
mindvision/mindvision.cpp
|
||
usbcamera/usbcamera.cpp
|
||
camera.cpp
|
||
cboard.cpp
|
||
dm_imu/dm_imu.cpp
|
||
gimbal/gimbal.cpp
|
||
)
|
||
|
||
# 如果启用ROS2，添加ROS2版本的gimbal
|
||
if(USE_ROS2)
|
||
list(APPEND DEVICE_SOURCES gimbal/gimbal_ros.cpp)
|
||
endif()
|
||
|
||
add_library(device STATIC ${DEVICE_SOURCES})
|
||
|
||
# hikrobot
|
||
target_include_directories(device PUBLIC hikrobot/include)
|
||
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
|
||
target_link_directories(device PUBLIC hikrobot/lib/amd64)
|
||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
|
||
target_link_directories(device PUBLIC hikrobot/lib/arm64)
|
||
else()
|
||
message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
|
||
endif()
|
||
|
||
# mindvision
|
||
target_include_directories(device PUBLIC mindvision/include)
|
||
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
|
||
target_link_directories(device PUBLIC mindvision/lib/amd64)
|
||
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
|
||
target_link_directories(device PUBLIC mindvision/lib/arm64)
|
||
else()
|
||
message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
|
||
endif()
|
||
|
||
target_link_libraries(device MvCameraControl MVSDK usb-1.0 yaml-cpp serial)
|
||
|
||
# 如果启用ROS2，添加ROS2依赖
|
||
if(USE_ROS2)
|
||
target_include_directories(device PUBLIC ${rclcpp_INCLUDE_DIRS} ${rm_msgs_INCLUDE_DIRS})
|
||
target_link_libraries(device ${rclcpp_LIBRARIES})
|
||
endif() |