CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(go1_republisher)

add_compile_options(-std=c++11)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS tf rospy roscpp std_msgs sensor_msgs nav_msgs camera_info_manager_py cv_bridge image_transport)
find_package(OpenCV 4 REQUIRED)

## Declare a catkin package
catkin_package(CATKIN_DEPENDS tf rospy roscpp message_runtime camera_info_manager_py cv_bridge image_transport)

link_directories(${CMAKE_SOURCE_DIR}/../unitree_legged_sdk/lib/cpp/arm64)
link_directories(${CMAKE_SOURCE_DIR}/../UnitreecameraSDK/lib/arm64)

set(EXTRA_LIBS -pthread libunitree_legged_sdk.a libunitree_camera.a libsystemlog.a libtstc_V4L2_xu_camera.a udev)

include_directories(
	include
	${catkin_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	${CMAKE_SOURCE_DIR}/../unitree_legged_sdk/include
	${CMAKE_SOURCE_DIR}/../UnitreecameraSDK/include
)

add_executable(imu_odom src/imu_odom.cpp)
target_link_libraries(imu_odom ${EXTRA_LIBS} ${catkin_LIBRARIES})
add_dependencies(imu_odom ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(camera src/camera.cpp)
target_link_libraries(camera ${EXTRA_LIBS} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
add_dependencies(camera ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})