build(deps): add deps yaml-cpp

Author: Roy-dk

README _zh.md

@@ -37,6 +37,7 @@ git clone https://github.com/unitreerobotics/unitree_ros2
 ```bash
 sudo apt install ros-foxy-rmw-cyclonedds-cpp
 sudo apt install ros-foxy-rosidl-generator-dds-idl
+sudo apt install libyaml-cpp-dev
 ```
 ### 2. 编译cyclone-dds(如果使用 Humble 可跳过此步骤)
 由于 Unitree 机器人(sdk2 版本) 使用的是cyclonedds 0.10.2，因此需要先更改ROS2的dds实现。见：https://docs.ros.org/en/foxy/Concepts/About-Different-Middleware-Vendors.html

README.md

@@ -41,6 +41,7 @@ where:
 ```bash
 sudo apt install ros-foxy-rmw-cyclonedds-cpp
 sudo apt install ros-foxy-rosidl-generator-dds-idl
+sudo apt install libyaml-cpp-dev
 ```
 
 ### 2. Compile cyclone dds (If using Humble, this step can be skipped)

example/src/CMakeLists.txt

@@ -71,9 +71,6 @@ target_compile_features(g1_loco_client_example PRIVATE cxx_std_20)
 add_executable(g1_ankle_swing_example src/g1/lowlevel/g1_ankle_swing_example.cpp src/common/motor_crc_hg.cpp)
 target_compile_features(g1_ankle_swing_example PRIVATE cxx_std_20)
 
-add_executable(g1_dual_arm_example src/g1/lowlevel/g1_dual_arm_example.cpp src/common/motor_crc_hg.cpp)
-target_compile_features(g1_dual_arm_example PRIVATE cxx_std_20)
-
 add_executable(g1_audio_client_example src/g1/audio_client/g1_audio_client_example.cpp)
 target_compile_features(g1_audio_client_example PRIVATE cxx_std_20)
 
@@ -109,7 +106,7 @@ ament_target_dependencies(g1_dex3_example ${DEPENDENCY_LIST})
 target_include_directories(g1_dex3_example PRIVATE ${EIGEN3_INCLUDE_DIR})
 ament_target_dependencies(g1_loco_client_example ${DEPENDENCY_LIST})
 ament_target_dependencies(g1_ankle_swing_example ${DEPENDENCY_LIST})
-ament_target_dependencies(g1_dual_arm_example ${DEPENDENCY_LIST})
+
 ament_target_dependencies(g1_audio_client_example ${DEPENDENCY_LIST})
 
 ament_target_dependencies(b2w_sport_client ${DEPENDENCY_LIST})
@@ -118,6 +115,17 @@ ament_target_dependencies(b2w_stand_example ${DEPENDENCY_LIST})
 ament_target_dependencies(b2_sport_client ${DEPENDENCY_LIST})
 ament_target_dependencies(b2_stand_example ${DEPENDENCY_LIST})
 
+find_package(yaml-cpp QUIET)
+if(yaml-cpp_FOUND)
+    if (${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6")
+        message(STATUS "Found yaml-cpp version ${yaml-cpp_VERSION}")
+        add_executable(g1_dual_arm_example src/g1/lowlevel/g1_dual_arm_example.cpp src/common/motor_crc_hg.cpp)
+        target_compile_features(g1_dual_arm_example PRIVATE cxx_std_20)
+        ament_target_dependencies(g1_dual_arm_example yaml-cpp ${DEPENDENCY_LIST})
+    else()
+        message(STATUS "yaml-cpp version ${yaml-cpp_VERSION} is too old, skipping build of g1_dual_arm_example.")
+    endif()
+endif()
 
 install(TARGETS 
         low_level_ctrl
@@ -138,7 +146,13 @@ install(TARGETS g1_arm_action_example)
 install(TARGETS g1_dex3_example)
 install(TARGETS g1_loco_client_example)
 install(TARGETS g1_ankle_swing_example)
-install(TARGETS g1_dual_arm_example)
+
+if(yaml-cpp_FOUND)
+    if (${yaml-cpp_VERSION} VERSION_GREATER_EQUAL "0.6")
+      install(TARGETS g1_dual_arm_example)
+    endif()
+endif()
+
 install(TARGETS g1_audio_client_example)
 
 

example/src/src/g1/lowlevel/g1_dual_arm_example.cpp

@@ -118,7 +118,7 @@ inline uint32_t Crc32Core(const uint32_t *ptr, uint32_t len) {
     }
   }
   return CRC32;
-};
+}
 
 float GetMotorKp(MotorType type) {
   switch (type) {