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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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27
unitree_sdk2/example/h2/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.10)
add_executable(h2_loco_client high_level/h2_loco_client_example.cpp)
target_link_libraries(h2_loco_client unitree_sdk2)
add_executable(h2_arm_sdk_dds_example high_level/h2_arm_sdk_dds_example.cpp)
target_link_libraries(h2_arm_sdk_dds_example unitree_sdk2)
add_executable(h2_ankle_swing_example low_level/h2_ankle_swing_example.cpp)
target_link_libraries(h2_ankle_swing_example unitree_sdk2)
find_package(yaml-cpp QUIET)
if(yaml-cpp_FOUND AND ${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6")
add_executable(h2_dual_arm_example low_level/h2_dual_arm_example.cpp)
target_link_libraries(h2_dual_arm_example PRIVATE unitree_sdk2 yaml-cpp)
target_compile_definitions(h2_dual_arm_example PUBLIC
H2_DUAL_ARM_BEHAVIOR_DIR="${CMAKE_CURRENT_SOURCE_DIR}/low_level/behavior_lib/")
endif()
find_package(Boost COMPONENTS program_options)
if(Boost_FOUND)
add_executable(h2_termination low_level/terminations.cpp)
target_link_libraries(h2_termination unitree_sdk2 Boost::program_options)
add_executable(h2_arm_action_example high_level/h2_arm_action_example.cpp)
target_link_libraries(h2_arm_action_example unitree_sdk2 Boost::program_options)
endif()