初始化项目，包含fast_lio_ws和unitree_sdk2

unitree_sdk2/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(unitree_sdk2 VERSION 2.0.0)
+
+## Project Options
+option(BUILD_EXAMPLES "Build examples" ON)
+
+## Set compiler to use c++ 17 features
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_EXTENSIONS OFF)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+## Chosse build type
+set(default_build_type "Release")
+if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+    message(STATUS "Setting build type to '${default_build_type}' as none was specified.")
+    set(CMAKE_BUILD_TYPE "${default_build_type}" CACHE
+            STRING "Choose the type of build." FORCE)
+    # Set the possible values of build type for cmake-gui
+    set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
+            "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif ()
+
+## Use GNUInstallDirs to install libraries into correct locations on all platforms.
+include(GNUInstallDirs)
+
+## Put all binary files into /bin and libraries into /lib
+set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
+
+## Check system architecture
+message(STATUS "Current system architecture: ${CMAKE_SYSTEM_PROCESSOR}")
+
+## Import thirdparty libraries
+add_subdirectory(thirdparty)
+
+## Import Unitree SDK2 library
+set(UNITREE_SDK_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
+find_library(UNITREE_SDK_LIB unitree_sdk2 PATHS ${UNITREE_SDK_PATH} NO_DEFAULT_PATH)
+
+if (NOT UNITREE_SDK_LIB)
+    message(FATAL_ERROR "Unitree SDK library for the architecture is not found")
+else ()
+    message(STATUS "Unitree SDK library found at: ${UNITREE_SDK_LIB}")
+endif ()
+
+message(STATUS "Importing: ${UNITREE_SDK_LIB}")
+
+find_package(Threads REQUIRED)
+
+add_library(unitree_sdk2 STATIC IMPORTED GLOBAL)
+set_target_properties(unitree_sdk2 PROPERTIES
+        IMPORTED_LOCATION ${UNITREE_SDK_LIB})
+target_link_libraries(unitree_sdk2 INTERFACE ddsc ddscxx Threads::Threads)
+target_include_directories(unitree_sdk2 INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+if (BUILD_EXAMPLES)
+    add_subdirectory(example)
+endif ()
+
+## Install the library
+install(DIRECTORY include/
+    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+install(FILES ${UNITREE_SDK_LIB}
+    DESTINATION ${CMAKE_INSTALL_LIBDIR})
+
+install(FILES cmake/unitree_sdk2Targets.cmake
+    DESTINATION lib/cmake/unitree_sdk2)
+
+include(CMakePackageConfigHelpers)
+write_basic_package_version_file(
+    unitree_sdk2ConfigVersion.cmake
+    VERSION "${${PROJECT_NAME}_VERSION_MAJOR}.${${PROJECT_NAME}_VERSION_MINOR}.${${PROJECT_NAME}_VERSION_PATCH}"
+    COMPATIBILITY ExactVersion)
+
+configure_file(cmake/unitree_sdk2Config.cmake.in unitree_sdk2Config.cmake @ONLY)
+install(FILES "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2Config.cmake"
+    "${CMAKE_CURRENT_BINARY_DIR}/unitree_sdk2ConfigVersion.cmake"
+    DESTINATION lib/cmake/unitree_sdk2)