| cmake_minimum_required(VERSION 3.10) | |
| project(cpp_lowcmd_bridge) | |
| if(NOT CMAKE_CXX_STANDARD) | |
| set(CMAKE_CXX_STANDARD 17) | |
| endif() | |
| if(CMAKE_CXX_COMPILER_ID MATCHES "GNU|Clang") | |
| add_compile_options(-Wall -Wextra -Wpedantic -Werror=return-type) | |
| endif() | |
| find_package(ament_cmake REQUIRED) | |
| find_package(rclcpp REQUIRED) | |
| find_package(std_msgs REQUIRED) | |
| find_package(unitree_hg REQUIRED) | |
| add_executable(h2_lowcmd_shm_bridge | |
| src/h2_lowcmd_shm_bridge.cpp | |
| src/motor_crc_hg.cpp | |
| ) | |
| target_include_directories(h2_lowcmd_shm_bridge PRIVATE include) | |
| ament_target_dependencies(h2_lowcmd_shm_bridge rclcpp std_msgs unitree_hg) | |
| install(TARGETS h2_lowcmd_shm_bridge | |
| DESTINATION lib/${PROJECT_NAME} | |
| ) | |
| ament_package() | |