fix: fix grpc_cpp_plugin rpath
This commit is contained in:
parent
4085835277
commit
6c6ba72967
@ -36,7 +36,7 @@ find_package(protobuf REQUIRED)
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find_package(gRPC REQUIRED)
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############################################################
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# PROTO
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# 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
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############################################################
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set(PROTO_IMPORT_DIR ${PROJECT_SOURCE_DIR}/protos)
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@ -44,6 +44,12 @@ set(PROTO_BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/_protobuf)
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file(MAKE_DIRECTORY ${PROTO_BINARY_DIR})
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file(GLOB_RECURSE PROTO_FILES ${PROTO_IMPORT_DIR}/*.proto)
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set(Protobuf_PROTOC_EXECUTABLE "${CMAKE_INSTALL_PREFIX}/bin/protoc" CACHE FILEPATH "" FORCE)
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set_property(TARGET gRPC::grpc_cpp_plugin
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PROPERTY IMPORTED_LOCATION "${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin"
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)
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# 1) 先做 OBJECT：只负责生成/编译 pb.cc
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add_library(proto-objects OBJECT)
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target_sources(proto-objects PRIVATE ${PROTO_FILES})
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@ -70,7 +76,8 @@ add_library(proto SHARED $<TARGET_OBJECTS:proto-objects>)
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target_include_directories(proto PUBLIC ${PROTO_BINARY_DIR} ${PROTO_IMPORT_DIR} ${Protobuf_INCLUDE_DIRS})
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target_link_libraries(proto PUBLIC protobuf::libprotobuf gRPC::grpc++ gRPC::grpc++_reflection)
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add_library(cmvr_es::proto ALIAS proto)
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install(TARGETS proto RUNTIME DESTINATION bin)
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#install(TARGETS proto RUNTIME DESTINATION bin)
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install(TARGETS proto LIBRARY DESTINATION lib)
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############################################################
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# include
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############################################################
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@ -15,6 +15,7 @@ function(setup_external_libs ARCH)
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# For install
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set(INSTALL_SO_FILES)
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set(INSTALL_BIN_FILES) # 安装proto 的 protoc 和 grpc_cpp_plugin
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foreach(REL_PATH ${LINES})
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# Skip comments / empty lines
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@ -86,6 +87,20 @@ function(setup_external_libs ARCH)
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endif()
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endif()
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# ---- bin (protoc / grpc_cpp_plugin) ----
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if(EXISTS "${FULL_PATH}/bin")
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# 精确收集你需要的两个
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if(EXISTS "${FULL_PATH}/bin/grpc_cpp_plugin")
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list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/grpc_cpp_plugin")
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endif()
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if(EXISTS "${FULL_PATH}/bin/protoc")
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list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/protoc")
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endif()
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if(EXISTS "${FULL_PATH}/bin/protoc-31.1.0")
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list(APPEND INSTALL_BIN_FILES "${FULL_PATH}/bin/protoc-31.1.0")
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endif()
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endif()
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if(HAS_INCLUDE OR HAS_LIB)
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math(EXPR LIB_COUNT "${LIB_COUNT} + 1")
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endif()
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@ -136,6 +151,31 @@ function(setup_external_libs ARCH)
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]])
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endif()
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# ---- install third-party tools into <prefix>/bin ----
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if(INSTALL_BIN_FILES)
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list(REMOVE_DUPLICATES INSTALL_BIN_FILES)
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install(PROGRAMS ${INSTALL_BIN_FILES} DESTINATION bin)
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# After installing, patch RPATH of installed tools to $ORIGIN/../lib
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install(CODE [[
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execute_process(COMMAND bash -lc
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"set -e
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if ! command -v patchelf >/dev/null 2>&1; then
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echo '[install] patchelf not found, skip patch bin rpath'
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exit 0
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fi
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echo '[install] patch rpath under: ${CMAKE_INSTALL_PREFIX}/bin'
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for f in '${CMAKE_INSTALL_PREFIX}/bin/protoc' '${CMAKE_INSTALL_PREFIX}/bin/grpc_cpp_plugin'; do
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if [ -f \"$f\" ]; then
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patchelf --set-rpath '$ORIGIN/../lib' \"$f\"
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fi
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done
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echo '[install] done (bin rpath)'"
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)
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]])
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endif()
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if(LIB_COUNT GREATER 0)
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message(STATUS "Successfully setup ${LIB_COUNT} external libraries for ${ARCH}")
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else()
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Binary file not shown.
@ -1,152 +0,0 @@
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<CMVR-ES>
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<Constants rootDir="/home/xtkuang/projects/cmvr-es"/>
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<Logger dir="../log" level="info" bufSize="5" logSize="1024"/>
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<DeviceManager name="cmvr_es" ver="0.1" description="cmvr edge system version 0.1">
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<Devices>
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<AGV>
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</AGV>
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<Battery>
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</Battery>
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<Camera>
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<!-- <UVCCamera id="cam1" serial="/dev/video6" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
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<!-- <UVCCamera id="cam2" serial="/dev/video14" w="640" h="480" fps="30" mode="video" codec="H265"/>-->
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<!-- <RealsenseCamera id="cam3" serial="243122072252" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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<!-- <RealsenseCamera id="cam4" serial="243122075614" w="1280" h="720" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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<!-- <MechMind id="cam5" ip="10.148.108.111" align="true" _2dtype="color"/>-->
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<!-- <RealsenseCamera id="cam6" serial="243122075389" w="640" h="480" fps="30" mode="video" stream_mode="rgbd" align_mode="color" codec="H265"/>-->
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</Camera>
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<DexHand>
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<!-- <RH56DFTP id="hand1" default_force="500" default_speed="500" ip_address="192.168.1.224" port="6000">-->
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<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
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<!-- </RH56DFTP>-->
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<!-- <RH56DFTP id="hand2" default_force="500" default_speed="500" ip_address="192.168.1.224" port="6000">-->
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<!-- <Freedom order="01" default_force="500" default_speed="500" />-->
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<!-- </RH56DFTP>-->
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</DexHand>
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<Robot>
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<!-- <LeftArm id="left_arm" devtype="ti5Robot" />-->
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<!-- <RightArm />-->
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<!-- <Neck/>-->
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<!-- <Humanoid id="hc01" dof="14"-->
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<!-- urdf="/home/lgv/cmvr/cmvr-es/config/robot_description/hc_description/dual_arm.urdf"-->
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<!-- baseLink="PELVIS_S"-->
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<!-- jointNames="L_SHOULDER_P,L_SHOULDER_R,L_SHOULDER_Y,L_ELBOW_R,L_WRIST_P,L_WRIST_Y,L_WRIST_R,R_SHOULDER_P,R_SHOULDER_R,R_SHOULDER_Y,R_ELBOW_R,R_WRIST_P,R_WRIST_Y,R_WRIST_R"-->
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<!-- linkNames="PELVIS_S,L_SHOULDER_P_S,L_SHOULDER_R_S,L_SHOULDER_Y_S,L_ELBOW_R_S,L_WRIST_P_S,L_WRIST_Y_S,L_WRIST_R_S,R_SHOULDER_P_S,R_SHOULDER_R_S,R_SHOULDER_Y_S,R_ELBOW_R_S,R_WRIST_P_S,R_WRIST_Y_S,R_WRIST_R_S,R_FINGER_TIP,R_CAM"-->
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<!-- bufferSize="50"-->
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<!-- verbose="false">-->
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<!-- <CanManger id="" devId="">-->
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<!-- <LeftArmCan id = " " devId = " " channelId ="0" enable="false" toolFrame="L_FINGER_TIP">-->
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<!-- <Motor id="23" jointName="L_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="24" jointName="L_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="25" jointName="L_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="26" jointName="L_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="27" jointName="L_WRIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="21" jointName="L_WRIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="22" jointName="L_WRIST_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </LeftArmCan>-->
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<!-- <RightArmCan id = " " devId = " " channelId ="1" enable="true" toolFrame="R_FINGER_TIP">-->
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<!-- <Motor id="16" jointName="R_SHOULDER_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="17" jointName="R_SHOULDER_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="18" jointName="R_SHOULDER_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="19" jointName="R_ELBOW_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="20" jointName="R_WRIST_P" limitQLb="-3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="28" jointName="R_WRIST_Y" limitQLb="-1.102" limitQUb="1.02" limitQd="3.0"/>-->
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<!-- <Motor id="29" jointName="R_WRIST_R" limitQLb="-0.293" limitQUb="1.57079" limitQd="3.0"/>-->
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<!-- </RightArmCan>-->
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<!-- <HeadCan id = " " devId = " " channelId ="2" enable="true">-->
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<!-- <Motor id="32" jointName="HEAD_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="30" jointName="HEAD_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="31" jointName="HEAD_R" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </HeadCan>-->
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<!-- <WaistCan id = " " devId = " " channelId ="3" enable="false">-->
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<!-- <Motor id="4" jointName="WAIST_Y" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- <Motor id="15" jointName="WAIST_P" limitQLb="3.14" limitQUb="3.14" limitQd="3.0"/>-->
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<!-- </WaistCan>-->
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<!-- </CanManger>-->
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<!-- </Humanoid>-->
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</Robot>
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<BioHead>
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<!-- <esp32 id="bio_head" serial="/dev/ttyUSB0" ctrlFreq="50">-->
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<!-- <!– 眉毛 –>-->
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<!-- <EyeBrow serial="64:0~3"-->
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<!-- offest="90 90 90 90"-->
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<!-- jLmtUp="90 170 155 110"-->
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<!-- jLmtLow="20 77 90 20"/>-->
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<!-- <!– 眼睛 –>-->
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<!-- <Eye serial="64:4~9"-->
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<!-- offest="90 90 90 90 90 90"-->
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<!-- jLmtUp="90 150 165 90 120 115"-->
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<!-- jLmtLow="20 90 90 25 70 75"/>-->
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<!-- <!– 嘴巴 –>-->
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<!-- <Mouth serial="65:0~9"-->
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<!-- offest="90 90 90 90 90 90 90 90 90 90"-->
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<!-- jLmtUp="150 110 130 140 100 105 110 125 90 95"-->
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<!-- jLmtLow="70 30 80 80 65 55 45 80 85 90"/>-->
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<!-- </esp32>-->
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</BioHead >
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<Microphone>
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<!-- <ffmpegMicPhone id="mic1" alsa="hw:0" channels="2" sampleRate="44100" volume="80"/>-->
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<!-- <ffmpegMicPhone id="mic2" alsa="hw:1" channels="1" sampleRate="44100" volume="80"/>-->
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</Microphone>
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<Speaker>
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<ffmpegSpeaker id="spk1" serial="" alas="default" channels="2" sampleRate="44100" softResample="1" latency="50000" volume="100"/>
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</Speaker>
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<Canbus>
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<!-- <rightArmCan id="can1" brand="SOCKET_CAN_RAW" type="USB_CARD" channel_id="CHANNEL_ID_ZERO" interface="NATIVE" baudrate="BCAN_BAUDRATE_500K"/>-->
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</Canbus>
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</Devices>
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<HighLevelController>
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<BioHeadExpre headId="bio_head" />
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<CartesianWBC urdf="" />
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<ScreenTouch robotID="" DexhandID="" />
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</HighLevelController>
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</DeviceManager>
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<MonitorManager>
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<DiskMonitor id="file_monitor" freq="1">
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<!-- <Folder fileDir="/home/share/assets/audio" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/image" maxVolume="1000"/>-->
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<!-- <Folder fileDir="/home/share/assets/video" maxVolume="1000"/>-->
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<!-- <Folder fileDir="../log" maxVolume="1000"/>-->
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</DiskMonitor>
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<JointMonitor id="robot_joint_monitor" freq="200">
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<RobotJoint robotID="left_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="left_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="0" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="1" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="2" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="3" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="4" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="6" maxTemp="80" maxCurrent="5" maxVel="2"/>
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<RobotJoint robotID="right_arm" motorID="7" maxTemp="80" maxCurrent="5" maxVel="2"/>
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</JointMonitor>
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</MonitorManager>
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<gRPCServer port="50052">
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</gRPCServer>
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</CMVR-ES>
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@ -1,25 +0,0 @@
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realsense_cameras {
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id: "cam2"
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serialNumber: "123456789012"
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width: 1280
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height: 720
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fps: 30
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codec: "H265"
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camera_mode: CAMERA_MODE_VIDEO
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stream_mode: STREAM_MODE_RGBD
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align_mode: ALIGN_MODE_COLOR
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buffer_size: 30
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sync: true
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}
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uvc_cameras {
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id: "cam1"
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usb: "/dev/video0"
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width: 640
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height: 480
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fps: 30
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codec: "H265"
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camera_mode: CAMERA_MODE_PHOTO
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stream_mode: STREAM_MODE_RGB
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buffer_size: 30
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}
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@ -1,9 +0,0 @@
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urdf_path: "/home/lgv/cmvr/dual_arm.urdf"
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base_frame_name: "PELVIS_S"
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flange_frame_name: "R_FLANGE"
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tcp_frame_name: "R_TCP"
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max_iters: 100
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pos_eps: 1e-6
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rot_eps: 1e-6
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damping: 1e-6
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@ -1,10 +0,0 @@
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urdf_path: "/home/cmvr/Projects/cmvr-es/model/xiaoyan_description/dual_arm.urdf"
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base_frame_name: "PELVIS_S"
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flange_frame_name: "R_WRIST_R_S"
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tcp_frame_name: "R_FINGER_TIP_FIXED"
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lambda: 0.0001
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w_posrot: 0.5
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max_iters: 80
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tol: 1e-6
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qp_time_limit: 0.005
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libabsl_flags_commandlineflag_internal.so.2505.0.0
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libabsl_flags_config.so.2505.0.0
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libabsl_flags_internal.so.2505.0.0
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libabsl_flags_marshalling.so.2505.0.0
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||||
libabsl_flags_parse.so.2505.0.0
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libabsl_flags_private_handle_accessor.so.2505.0.0
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libabsl_flags_program_name.so.2505.0.0
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||||
libabsl_flags_reflection.so.2505.0.0
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||||
libabsl_flags_usage.so.2505.0.0
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||||
libabsl_flags_usage_internal.so.2505.0.0
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||||
libabsl_graphcycles_internal.so.2505.0.0
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libabsl_hash.so.2505.0.0
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||||
libabsl_hashtablez_sampler.so.2505.0.0
|
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|
||||
libabsl_int128.so.2505.0.0
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||||
libabsl_kernel_timeout_internal.so.2505.0.0
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libabsl_leak_check.so.2505.0.0
|
||||
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||||
libabsl_log_flags.so.2505.0.0
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||||
libabsl_log_globals.so.2505.0.0
|
||||
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|
||||
libabsl_log_initialize.so.2505.0.0
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|
||||
libabsl_log_internal_check_op.so.2505.0.0
|
||||
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||||
libabsl_log_internal_conditions.so.2505.0.0
|
||||
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libabsl_log_internal_fnmatch.so.2505.0.0
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|
||||
libabsl_log_internal_format.so.2505.0.0
|
||||
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Reference in New Issue
Block a user