initial commit

2026-10-22 09:23:54 +08:00
commit 63f557a39f
4448 changed files with 584487 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.10)
+
+project(m20_sdk_deploy)
+
+# 设置C++标准
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 默认构建类型
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+# 警告忽略和编译选项
+add_definitions(-w)
+add_compile_options(-fPIC)
+
+# 配置选项
+set(BUILD_PLATFORM "x86" CACHE STRING "Target platform (x86 or arm)")
+
+if(BUILD_PLATFORM STREQUAL "arm")
+  set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
+  set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++") 
+endif()
+
+# 查找依赖包
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(drdds REQUIRED)
+
+set(THIRD_PARTY ${CMAKE_CURRENT_SOURCE_DIR}/third_party)
+
+include_directories(
+  include/types
+  include/utils
+  interface/robot
+  interface/user_command
+  interface/network
+  state_machine
+  run_policy
+  ${THIRD_PARTY}/eigen/
+  ${THIRD_PARTY}/gamepad/include
+  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/include
+)
+
+# 子目录
+add_subdirectory(interface)
+
+# Keep the default RUNPATH behavior so a correctly sourced ROS environment can
+# override stale build-machine library paths when necessary.
+set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
+set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+
+
+set(CMAKE_INSTALL_RPATH 
+  ${THIRD_PARTY}/onnxruntime/${BUILD_PLATFORM}/lib/
+  ../lib/onnxruntime/
+)
+
+file(GLOB_RECURSE STATE_MACHINE_SRC "state_machine/*.c*")
+
+add_executable(rl_deploy main.cpp ${STATE_MACHINE_SRC})
+
+add_library(onnxruntime SHARED IMPORTED)
+set_target_properties(onnxruntime PROPERTIES IMPORTED_LOCATION "${THIRD_PARTY}/onnxruntime//${BUILD_PLATFORM}/lib/libonnxruntime.so")
+
+ament_target_dependencies(rl_deploy
+  rclcpp
+  drdds
+)
+if(BUILD_PLATFORM STREQUAL "arm")
+  target_link_libraries(rl_deploy
+    interface
+    onnxruntime
+    -lpthread
+    -lm
+    -lrt
+    -ldl
+    -lstdc++
+  )
+else()
+  target_link_libraries(rl_deploy
+    interface
+    onnxruntime
+    -lpthread
+    -lm
+    -lrt
+    -ldl
+    -lstdc++
+  )
+endif()
+
+
+install(TARGETS rl_deploy
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()