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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(go1_hardware_interface)
# Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
controller_manager
realtime_tools
base_hardware_interface
)
add_subdirectory(go1_hal)
catkin_package(
CATKIN_DEPENDS
controller_manager
realtime_tools
base_hardware_interface
)
##########
# Build ##
##########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(ros_control_node
src/go1_robot_hw.cpp
src/go1_ros_control.cpp
src/go1_ros_node.cpp)
# Specify libraries to link a library or executable target against
target_link_libraries(ros_control_node
${catkin_LIBRARIES}
go1hal
)
set_property(TARGET ros_control_node PROPERTY CXX_STANDARD 11) # At least std c++11
#############
## Install ##
#############
install(
TARGETS ros_control_node test_go1_hal
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)