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feat: 初始化 Go2 导航相关代码与配置

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龙正扬应用学生后端
2026-10-15 09:40:29 +08:00
commit 07426fcc09
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53
unitree_sdk2/example/g1/CMakeLists.txt Normal file
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add_executable(g1_loco_client high_level/g1_loco_client_example.cpp)
target_link_libraries(g1_loco_client unitree_sdk2)
add_executable(g1_arm5_sdk_dds_example high_level/g1_arm5_sdk_dds_example.cpp)
target_link_libraries(g1_arm5_sdk_dds_example unitree_sdk2)
add_executable(g1_arm7_sdk_dds_example high_level/g1_arm7_sdk_dds_example.cpp)
target_link_libraries(g1_arm7_sdk_dds_example unitree_sdk2)
add_executable(g1_ankle_swing_example low_level/g1_ankle_swing_example.cpp)
target_link_libraries(g1_ankle_swing_example unitree_sdk2)
add_executable(g1_audio_client_example audio/g1_audio_client_example.cpp)
target_link_libraries(g1_audio_client_example unitree_sdk2)
add_executable(g1_dex3_example dex3/g1_dex3_example.cpp)
target_link_libraries(g1_dex3_example unitree_sdk2)
add_executable(g1_userctrl_dds_example high_level/g1_userctrl_dds_example.cpp)
target_link_libraries(g1_userctrl_dds_example unitree_sdk2)
find_package(Boost COMPONENTS program_options)
if(Boost_FOUND)
add_executable(g1_termination low_level/terminations.cpp)
target_link_libraries(g1_termination unitree_sdk2 Boost::program_options)
add_executable(g1_arm_action_example high_level/g1_arm_action_example.cpp)
target_link_libraries(g1_arm_action_example unitree_sdk2 Boost::program_options)
endif()
find_package(yaml-cpp QUIET)
if(yaml-cpp_FOUND)
if (${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6")
message(STATUS "Found yaml-cpp version ${yaml-cpp_VERSION}")
add_executable(g1_dual_arm_example low_level/g1_dual_arm_example.cpp)
target_link_libraries(g1_dual_arm_example PRIVATE unitree_sdk2 yaml-cpp)
target_compile_definitions(g1_dual_arm_example PUBLIC BLIB_DIR="${CMAKE_CURRENT_SOURCE_DIR}/low_level/behavior_lib/")
else()
message(STATUS "yaml-cpp version ${yaml-cpp_VERSION} is too old, skipping build of g1_dual_arm_example.")
endif()
endif()
add_executable(g1_agv_client_example g1d/g1_agv_client_example.cpp)
target_link_libraries(g1_agv_client_example unitree_sdk2)
add_executable(g1d_arm_example g1d/g1d_arm_example.cpp)
target_link_libraries(g1d_arm_example unitree_sdk2)
add_executable(g1d_height_control g1d/g1d_height_control.cpp)
target_link_libraries(g1d_height_control unitree_sdk2)
add_executable(g1_hand_sdk_example high_level/g1_hand_sdk_example.cpp)
target_link_libraries(g1_hand_sdk_example unitree_sdk2)