diff --git a/CMakeLists.txt b/CMakeLists.txt index 036831ca..ee32b263 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -36,7 +36,7 @@ find_package(protobuf REQUIRED) find_package(gRPC REQUIRED) ############################################################ -# PROTO +# PROTO , 遇到proto 的生成问题，现在build 目录执行 cmake --install . --verbose ，然后编译即可 ############################################################ set(PROTO_IMPORT_DIR ${PROJECT_SOURCE_DIR}/protos) @@ -44,6 +44,12 @@ set(PROTO_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/_protobuf) file(MAKE_DIRECTORY ${PROTO_BINARY_DIR}) file(GLOB_RECURSE PROTO_FILES ${PROTO_IMPORT_DIR}/*.proto) + +set(Protobuf_PROTOC_EXECUTABLE "${CMAKE_INSTALL_PREFIX}/bin/protoc" CACHE FILEPATH "" FORCE) +set_property(TARGET gRPC::grpc_cpp_plugin + PROPERTY IMPORTED_LOCATION "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin" +) + # 1) 先做 OBJECT：只负责生成/编译 pb.cc add_library(proto-objects OBJECT) target_sources(proto-objects PRIVATE ${PROTO_FILES}) @@ -70,7 +76,8 @@ add_library(proto SHARED $) target_include_directories(proto PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR} ${Protobuf_INCLUDE_DIRS}) target_link_libraries(proto PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection) add_library(cmvr_es::proto ALIAS proto) -install(TARGETS proto RUNTIME DESTINATION bin) +#install(TARGETS proto RUNTIME DESTINATION bin) +install(TARGETS proto LIBRARY DESTINATION lib) ############################################################ # include ############################################################ diff --git a/cmake/FindExternalLib.cmake b/cmake/FindExternalLib.cmake index 7ffcfd22..7f0f9726 100644 --- a/cmake/FindExternalLib.cmake +++ b/cmake/FindExternalLib.cmake @@ -15,6 +15,7 @@ function(setup_external_libs ARCH) # For install set(INSTALL_SO_FILES) + set(INSTALL_BIN_FILES) # 安装proto 的 protoc 和 grpc_cpp_plugin foreach(REL_PATH ${LINES}) # Skip comments / empty lines @@ -86,6 +87,20 @@ function(setup_external_libs ARCH) endif() endif() + # ---- bin (protoc / grpc_cpp_plugin) ---- + if(EXISTS "${FULL_PATH}/bin") + # 精确收集你需要的两个 + if(EXISTS "${FULL_PATH}/bin/grpc_cpp_plugin") + list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/grpc_cpp_plugin") + endif() + if(EXISTS "${FULL_PATH}/bin/protoc") + list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/protoc") + endif() + if(EXISTS "${FULL_PATH}/bin/protoc-31.1.0") + list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/protoc-31.1.0") + endif() + endif() + if(HAS_INCLUDE OR HAS_LIB) math(EXPR LIB_COUNT "${LIB_COUNT} + 1") endif() @@ -136,6 +151,31 @@ function(setup_external_libs ARCH) ]]) endif() + + # ---- install third-party tools into /bin ---- + if(INSTALL_BIN_FILES) + list(REMOVE_DUPLICATES INSTALL_BIN_FILES) + install(PROGRAMS ${INSTALL_BIN_FILES} DESTINATION bin) + + # After installing, patch RPATH of installed tools to $ORIGIN/../lib + install(CODE [[ + execute_process(COMMAND bash -lc + "set -e + if ! command -v patchelf >/dev/null 2>&1; then + echo '[install] patchelf not found, skip patch bin rpath' + exit 0 + fi + echo '[install] patch rpath under: ${CMAKE_INSTALL_PREFIX}/bin' + for f in '${CMAKE_INSTALL_PREFIX}/bin/protoc' '${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin'; do + if [ -f \"$f\" ]; then + patchelf --set-rpath '$ORIGIN/../lib' \"$f\" + fi + done + echo '[install] done (bin rpath)'" + ) + ]]) + endif() + if(LIB_COUNT GREATER 0) message(STATUS "Successfully setup ${LIB_COUNT} external libraries for ${ARCH}") else() diff --git a/output/bin/cmvr_es b/output/bin/cmvr_es deleted file mode 100755 index dd4a6eaa..00000000 Binary files a/output/bin/cmvr_es and /dev/null differ diff --git a/output/bin/config/cabin_robot.xml b/output/bin/config/cabin_robot.xml deleted file mode 100644 index 574f5204..00000000 --- a/output/bin/config/cabin_robot.xml +++ /dev/null @@ -1,152 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/output/bin/config/camera_config/camera_config.pb.txt b/output/bin/config/camera_config/camera_config.pb.txt deleted file mode 100644 index a33b8bc2..00000000 --- a/output/bin/config/camera_config/camera_config.pb.txt +++ /dev/null @@ -1,25 +0,0 @@ -realsense_cameras { - id: "cam2" - serialNumber: "123456789012" - width: 1280 - height: 720 - fps: 30 - codec: "H265" - camera_mode: CAMERA_MODE_VIDEO - stream_mode: STREAM_MODE_RGBD - align_mode: ALIGN_MODE_COLOR - buffer_size: 30 - sync: true -} - -uvc_cameras { - id: "cam1" - usb: "/dev/video0" - width: 640 - height: 480 - fps: 30 - codec: "H265" - camera_mode: CAMERA_MODE_PHOTO - stream_mode: STREAM_MODE_RGB - buffer_size: 30 -} diff --git a/output/bin/config/ik_solver_config/lawba_ik_solver_config.txt b/output/bin/config/ik_solver_config/lawba_ik_solver_config.txt deleted file mode 100644 index e69de29b..00000000 diff --git a/output/bin/config/ik_solver_config/pinocchio_dls_ik_solver_config.pb.txt b/output/bin/config/ik_solver_config/pinocchio_dls_ik_solver_config.pb.txt deleted file mode 100644 index af9da22b..00000000 --- a/output/bin/config/ik_solver_config/pinocchio_dls_ik_solver_config.pb.txt +++ /dev/null @@ -1,9 +0,0 @@ -urdf_path: "/home/lgv/cmvr/dual_arm.urdf" -base_frame_name: "PELVIS_S" -flange_frame_name: "R_FLANGE" -tcp_frame_name: "R_TCP" - -max_iters: 100 -pos_eps: 1e-6 -rot_eps: 1e-6 -damping: 1e-6 diff --git a/output/bin/config/ik_solver_config/pinocchio_qp_ik_solver_config.pb.txt b/output/bin/config/ik_solver_config/pinocchio_qp_ik_solver_config.pb.txt deleted file mode 100644 index 66096608..00000000 --- a/output/bin/config/ik_solver_config/pinocchio_qp_ik_solver_config.pb.txt +++ /dev/null @@ -1,10 +0,0 @@ -urdf_path: "/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf" -base_frame_name: "PELVIS_S" -flange_frame_name: "R_WRIST_R_S" -tcp_frame_name: "R_FINGER_TIP_FIXED" - -lambda: 0.0001 -w_posrot: 0.5 -max_iters: 80 -tol: 1e-6 -qp_time_limit: 0.005 diff --git a/output/bin/srs_ik_test b/output/bin/srs_ik_test deleted file mode 100755 index e83ab4ac..00000000 Binary files a/output/bin/srs_ik_test and /dev/null differ diff --git a/output/lib/libOsqpEigen.so b/output/lib/libOsqpEigen.so deleted file mode 120000 index 5a52fd46..00000000 --- a/output/lib/libOsqpEigen.so +++ /dev/null @@ -1 +0,0 @@ -libOsqpEigen.so.0.10.1 \ No newline at end of file diff --git a/output/lib/libOsqpEigen.so.0.10.1 b/output/lib/libOsqpEigen.so.0.10.1 deleted file mode 100644 index eded2a13..00000000 Binary files a/output/lib/libOsqpEigen.so.0.10.1 and /dev/null differ diff --git a/output/lib/libabsl_base.so b/output/lib/libabsl_base.so deleted file mode 120000 index 799b454d..00000000 --- a/output/lib/libabsl_base.so +++ /dev/null @@ -1 +0,0 @@ -libabsl_base.so.2505.0.0 \ No newline at end of file diff --git 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