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fix(aubo): isolate AUBO SDK runtime libraries

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This commit is contained in:
lgv 2026-07-30 14:14:18 +08:00
parent 2ca03d88da
commit 59e31cbfde
1 changed files with 25 additions and 0 deletions
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25
cmvr-es/devices/arm/aubo_arm/CMakeLists.txt
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@ -24,9 +24,34 @@ if (EXISTS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk/aubo_sdkConfig.cmake")
endif()
endif()
find_package(aubo_sdk REQUIRED CONFIG PATHS "${AUBO_SDK_LIB_DIR}/cmake/aubo_sdk" NO_DEFAULT_PATH)
# The vendor directory contains an old private libstdc++. Keep it out of
# consumers' RUNPATH by staging only the AUBO runtime libraries.
set(AUBO_CLEAN_LIB_DIR "${CMAKE_CURRENT_BINARY_DIR}/aubo_sdk_runtime")
file(MAKE_DIRECTORY "${AUBO_CLEAN_LIB_DIR}")
foreach(AUBO_LIB
libaubo_sdk.so
libaubo_sdkd.so
librobot_proxy.so
librobot_proxyd.so)
file(COPY_FILE
"${AUBO_SDK_LIB_DIR}/${AUBO_LIB}"
"${AUBO_CLEAN_LIB_DIR}/${AUBO_LIB}"
ONLY_IF_DIFFERENT
)
endforeach()
set_target_properties(aubo_sdk::aubo_sdk aubo_sdk::robot_proxy PROPERTIES
MAP_IMPORTED_CONFIG_DEBUG Release
)
set_target_properties(aubo_sdk::aubo_sdk PROPERTIES
IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/libaubo_sdk.so"
IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/libaubo_sdkd.so"
)
set_target_properties(aubo_sdk::robot_proxy PROPERTIES
IMPORTED_LOCATION_RELEASE "${AUBO_CLEAN_LIB_DIR}/librobot_proxy.so"
IMPORTED_LOCATION_DEBUG "${AUBO_CLEAN_LIB_DIR}/librobot_proxyd.so"
)
target_compile_definitions(aubo_arm PRIVATE CMVR_HAS_AUBO_SDK)
target_include_directories(aubo_arm PRIVATE ${AUBO_SDK_INCLUDE_DIR})
target_link_libraries(aubo_arm PRIVATE aubo_sdk::aubo_sdk)