### Install Configuration and Library Files

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/control_module/CMakeLists.txt

Defines installation rules for configuration directories and third-party libraries.

```cmake
# Install config files
install(
  DIRECTORY cfg/ policy
  DESTINATION bin/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)

# install config files to build dir
install(
  DIRECTORY cfg/ policy
  DESTINATION ${CMAKE_BINARY_DIR}/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)

install(
  DIRECTORY third_party/lib/
  DESTINATION lib
)
```

--------------------------------

### Install System Dependencies and ONNX Runtime

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Installs necessary system packages, CMake, Git, Protocol Buffers, and then clones, builds, and installs ONNX Runtime. Ensure you have sufficient disk space for ONNX Runtime compilation.

```bash
sudo apt update
sudo apt install -y build-essential cmake git libprotobuf-dev protobuf-compiler
sudo apt install jstest-gtk libglfw3-dev libdart-external-lodepng-dev

git clone --recursive https://github.com/microsoft/onnxruntime
cd onnxruntime
./build.sh --config Release --build_shared_lib --parallel
cd build/Linux/Release/
sudo make install
```

--------------------------------

### Install ONNX Runtime

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Installs ONNX Runtime from source. Ensure you have GCC-13 and CMake (3.26+) installed. This process builds the shared library and installs it.

```bash
sudo apt update
sudo apt install -y build-essential cmake git libprotobuf-dev protobuf-compiler

git clone --recursive https://github.com/microsoft/onnxruntime

cd onnxruntime
./build.sh --config Release --build_shared_lib --parallel

cd build/Linux/Release/
sudo make install
```

--------------------------------

### Install Target in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/example/CMakeLists.txt

Specifies installation rules for the target. Libraries are installed to 'lib', archives to 'lib', and runtime binaries to 'bin' with a component name matching the target name.

```cmake
install(
  TARGETS ${CUR_TARGET_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin COMPONENT ${CUR_TARGET_NAME})

```

--------------------------------

### Install Configuration Files in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Installs configuration files from the 'cfg' directory to both the build directory and the installation prefix, preserving source permissions.

```cmake
install(
  DIRECTORY cfg/
  DESTINATION bin/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)

install(
  DIRECTORY cfg/
  DESTINATION ${CMAKE_BINARY_DIR}/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)
```

--------------------------------

### Define Library Targets and Installation

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/CMakeLists.txt

Compiles the SOEM static library, sets include directories, and defines installation rules for headers and binaries.

```cmake
message(STATUS "OS is ${OS}")

file(GLOB SOEM_SOURCES soem/*.c)
file(GLOB OSAL_SOURCES osal/${OS}/*.c)
file(GLOB OSHW_SOURCES oshw/${OS}/*.c)

file(GLOB SOEM_HEADERS soem/*.h)
file(GLOB OSAL_HEADERS osal/osal.h osal/${OS}/*.h)
file(GLOB OSHW_HEADERS oshw/${OS}/*.h)

add_library(soem STATIC
        ${SOEM_SOURCES}
        ${OSAL_SOURCES}
        ${OSHW_SOURCES}
        ${OSHW_EXTRA_SOURCES})
target_link_libraries(soem ${OS_LIBS})

target_include_directories(soem PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/soem>
        $<INSTALL_INTERFACE:include/soem>)

target_include_directories(soem PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal>
        $<INSTALL_INTERFACE:include/soem>)

target_include_directories(soem PUBLIC
        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/osal/${OS}>
        $<INSTALL_INTERFACE:include/soem>)

target_include_directories(soem
        PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}>
        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}/wpcap>
        $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/oshw/${OS}/wpcap/Include>
        $<INSTALL_INTERFACE:include/soem>
        )

message(STATUS "LIB_DIR: ${SOEM_LIB_INSTALL_DIR}")

install(TARGETS soem EXPORT soemConfig DESTINATION ${SOEM_LIB_INSTALL_DIR})

install(EXPORT soemConfig DESTINATION share/soem/cmake)

install(FILES
        ${SOEM_HEADERS}
        ${OSAL_HEADERS}
        ${OSHW_HEADERS}
        DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
```

--------------------------------

### Install Binary Directory

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Installs the binary directory from the specified source path to the destination. This command preserves source file permissions.

```cmake
install(
  DIRECTORY ${CUR_INSTALL_SOURCE_DIR}/bin
  DESTINATION ./
  USE_SOURCE_PERMISSIONS)

```

--------------------------------

### Native ROS2 Channel Publisher Example

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

A C++ ROS2 node that publishes JoyStickData messages to a specified topic at a regular interval. Ensure ROS2 protocol setup is sourced before running.

```cpp
// native_ros2_channel_publisher/main.cc
#include <chrono>
#include <memory>
#include <string>
#include "my_ros2_proto/msg/joy_stick_data.hpp"
#include "rclcpp/rclcpp.hpp"

class RosTestChannelPublisher : public rclcpp::Node {
public:
  RosTestChannelPublisher() : Node("native_ros2_channel_publisher") {
    using namespace std::chrono_literals;

    publisher_ = create_publisher<my_ros2_proto::msg::JoyStickData>("test_topic", 10);

    timer_ = create_wall_timer(500ms, [this]() {
      ++count_;
      my_ros2_proto::msg::JoyStickData msg;
      msg.name = "joy_stick_module_data";
      msg.x = count_;
      msg.y = count_;
      msg.z = count_;

      RCLCPP_INFO(get_logger(), "Publishing msg:\n%s",
                  my_ros2_proto::msg::to_yaml(msg).c_str());
      publisher_->publish(msg);
    });
  }

private:
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<my_ros2_proto::msg::JoyStickData>::SharedPtr publisher_;
  size_t count_ = 0;
};

int main(int argc, char* argv[]) {
  // Before running, source the ROS2 protocol setup:
  // source ./install/ros2_setup.sh

  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<RosTestChannelPublisher>());
  rclcpp::shutdown();
  return 0;
}
```

--------------------------------

### Install Simulation Dependencies

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Installs necessary dependencies for the simulation environment. This includes jstest-gtk, libglfw3-dev, and libdart-external-lodepng-dev.

```bash
sudo apt install jstest-gtk libglfw3-dev libdart-external-lodepng-dev
```

--------------------------------

### Joystick Configuration Example

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

This YAML file configures joystick mappings for robot control, specifying the publishing frequency.

```yaml
# joy_x1.yaml - Joystick configuration
freq: 20   # Publishing frequency (Hz)

```

--------------------------------

### Configure SOEM Build System

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/CMakeLists.txt

Initializes the project, sets installation paths, and detects the target operating system to configure compiler flags and dependencies.

```cmake
cmake_minimum_required(VERSION 3.9)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake/Modules")
project(SOEM
        DESCRIPTION "Simple Open EtherCAT Master"
        VERSION 1.4.0
        LANGUAGES C)

if (CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
    # Default to installing in SOEM source directory
    set(CMAKE_INSTALL_PREFIX ${CMAKE_CURRENT_LIST_DIR}/install)
endif ()

set(SOEM_INCLUDE_INSTALL_DIR include/soem)
set(SOEM_LIB_INSTALL_DIR lib)

if (CMAKE_SOURCE_DIR STREQUAL CMAKE_CURRENT_SOURCE_DIR)
    set(BUILD_TESTS TRUE)
else ()
    message(STATUS "SOEM: not building tests when built as dependency")
    set(BUILD_TESTS TRUE)
endif ()
```

--------------------------------

### Configure Library Paths for Real Robot Deployment

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Sets up the dynamic linker configuration to include necessary libraries for running on the real AgiBot X1 robot. This is a one-time setup step.

```bash
sudo vi /etc/ld.so.conf
# Add these paths:
# /opt/ros/humble/lib
# {YourProjectSource}/build/install/lib
sudo ldconfig
```

--------------------------------

### Install Third-Party Libraries in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Installs the contents of the 'third_party/lib' directory to the 'lib' destination in the installation prefix.

```cmake
install(
  DIRECTORY third_party/lib/
  DESTINATION lib
)
```

--------------------------------

### Install Library Target in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/xyber_api/CMakeLists.txt

Defines installation rules for the target library, specifying destinations for libraries, archives, and runtime components.

```cmake
install(
  TARGETS ${CUR_TARGET_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin COMPONENT ${CUR_TARGET_NAME})
```

--------------------------------

### Build Executable and Link Library

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/win32/slaveinfo/CMakeLists.txt

Configures the build process to create an executable named 'slaveinfo_win' from 'slaveinfo.c' and links it with the 'soem' library. The executable is then installed to the 'bin' directory.

```cmake
set(SOURCES slaveinfo.c)
add_executable(slaveinfo_win ${SOURCES})
target_link_libraries(slaveinfo_win soem)
install(TARGETS slaveinfo_win DESTINATION bin)
```

--------------------------------

### Platform-Specific Installation Directory

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Sets the installation source directory based on the system name. Currently supports Linux and will fail on other systems.

```cmake
if(CMAKE_SYSTEM_NAME MATCHES "Linux")
  set(CUR_INSTALL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/install/linux)
else()
  message(FATAL_ERROR "Unsupport os")
endif()
```

--------------------------------

### Build Executable with CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/linux/eepromtool/CMakeLists.txt

Defines the source files for an executable and links it against the 'soem' library. The executable is then installed to the 'bin' directory.

```cmake
set(SOURCES eepromtool.c)
add_executable(eepromtool ${SOURCES})
target_link_libraries(eepromtool soem)
install(TARGETS eepromtool DESTINATION bin)
```

--------------------------------

### Configure Xyber Controller Project

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/CMakeLists.txt

Sets up the basic project configuration, including the minimum CMake version, project name, and languages. It also configures installation paths and C++ standard.

```cmake
cmake_minimum_required(VERSION 3.23)
message("Configuring Xyber Controller project")

project(xyber_controller LANGUAGES CXX C)

# Set cmake path
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)

set(CMAKE_INSTALL_RPATH "$ORIGIN;$ORIGIN/../lib;")
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

find_package(Threads REQUIRED)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -Wl,--disable-new-dtags")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -Wl,--disable-new-dtags")

add_subdirectory(third_party/soem)
add_subdirectory(xyber_api)
# add_subdirectory(example)

install(SCRIPT "cmake/post_install_script.cmake")

# CPack
set(CPACK_PACKAGE_VERSION_MAJOR 0)
set(CPACK_PACKAGE_VERSION_MINOR 5)
set(CPACK_PACKAGE_VERSION_PATCH 0)
set(CPACK_GENERATOR "ZIP")
set(CPACK_PACKAGE_NAME "XyberController")
set(CPACK_PACKAGE_DESCRIPTION_SUMMARY "A brief description of XyberController: version: v0.5.x")
set(CPACK_PACKAGE_VENDOR "AgibotTech")
set(CPACK_PACKAGE_DESCRIPTION_FILE "${CMAKE_SOURCE_DIR}/README.md")
set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Richie.Li")

include(CPack)
```

--------------------------------

### Install Header Files in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/xyber_api/CMakeLists.txt

Installs the header files from the 'include' directory to the specified destination, excluding the 'internal' subdirectory. This makes the library's public API available to users.

```cmake
install(
  DIRECTORY include/
  DESTINATION include/${CUR_TARGET_NAME}
  PATTERN "include/internal" EXCLUDE
)
```

--------------------------------

### CMake Build Configuration Script

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/CMakeLists.txt

Configures the project environment, defines the library target, and manages dependencies and installation.

```cmake
# Get the current folder name
string(REGEX REPLACE ".*/\\(.*\\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})

# Get namespace
get_namespace(CUR_SUPERIOR_NAMESPACE)
string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})

# Find packages
find_package(Eigen3 REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

# Set target name
set(CUR_TARGET_NAME ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR})
set(CUR_TARGET_ALIAS_NAME ${CUR_SUPERIOR_NAMESPACE}::${CUR_DIR})

# Set file collection
file(GLOB_RECURSE head_files ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h)
file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc)
file(GLOB_RECURSE test_files ${CMAKE_CURRENT_SOURCE_DIR}/test/*_test.cc)
list(REMOVE_ITEM src ${test_files})

# Add SDK
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/xyber_controller)

# Add target
add_library(${CUR_TARGET_NAME} STATIC)
add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})

# Set source file of target
target_sources(${CUR_TARGET_NAME} PRIVATE ${src})

# Set include path of target
target_include_directories(
  ${CUR_TARGET_NAME}
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
)

# Set link libraries of target
target_link_libraries(
  ${CUR_TARGET_NAME}
  PRIVATE yaml-cpp::yaml-cpp
  PUBLIC xyber_controller
         aimrt::interface::aimrt_module_cpp_interface
         aimrt::interface::aimrt_module_ros2_interface
         my_ros2_proto::my_ros2_proto__rosidl_generator_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_fastrtps_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_introspection_cpp
         my_ros2_proto::my_ros2_proto__rosidl_generator_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_fastrtps_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_introspection_cpp
         std_msgs::std_msgs__rosidl_generator_cpp
         std_msgs::std_msgs__rosidl_typesupport_cpp
         std_msgs::std_msgs__rosidl_typesupport_fastrtps_cpp
         std_msgs::std_msgs__rosidl_typesupport_introspection_cpp
         sensor_msgs::sensor_msgs__rosidl_generator_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_cpp
         geometry_msgs::geometry_msgs__rosidl_generator_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp
)

# Set test of target
if(XYBER_X1_INFER_BUILD_TESTS AND test_files)
  add_gtest_target(TEST_TARGET ${CUR_TARGET_NAME} TEST_SRC ${test_files})
endif()

# Install config files
install(
  DIRECTORY cfg/
  DESTINATION bin/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)

# install config files to build dir
install(
  DIRECTORY cfg/
  DESTINATION ${CMAKE_BINARY_DIR}/cfg/${CUR_DIR}
  USE_SOURCE_PERMISSIONS
)
```

--------------------------------

### Initialize and Control XyberController SDK

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

This C++ code initializes the XyberController, configures DCUs and actuators, starts EtherCAT communication, and enters a control loop to send commands and read states. Ensure the network interface and EtherCAT IDs are correctly set.

```cpp
#include "xyber_controller.h"
using namespace xyber;
using namespace std::chrono_literals;

int main() {
  // Step 1: Get singleton instance
  XyberControllerPtr controller(XyberController::GetInstance());

  // Step 2: Configure DCU and actuator network
  // Create DCU with EtherCAT ID (first node in bus = 1)
  uint8_t ethercat_id = 1;
  std::string dcu_name = "body";
  controller->CreateDcu(dcu_name, ethercat_id);

  // Attach actuator to DCU channel
  // Actuator types: POWER_FLOW_R86, POWER_FLOW_R52, POWER_FLOW_L28, OMNI_PICKER
  uint8_t actuator_can_id = 1;
  std::string actuator_name = "PowerFlowR52";
  controller->AttachActuator(dcu_name,
                             CtrlChannel::CTRL_CH1,           // CTRL_CH1, CTRL_CH2, CTRL_CH3
                             ActuatorType::POWER_FLOW_R52,
                             actuator_name,
                             actuator_can_id);

  // Step 3: Configure and start EtherCAT communication
  controller->SetRealtime(90, 1);  // RT priority 90, bind to CPU core 1
  bool ret = controller->Start("enp2s0",    // Network interface
                               1000000,      // Cycle time in ns (1kHz)
                               true);        // Enable DC sync
  if (!ret) {
    std::cout << "Start Failed" << std::endl;
    return 0;
  }

  // Step 4: Enable actuators and IMU
  ret = controller->EnableAllActuator();
  if (!ret) {
    std::cout << "Enable Actuator Failed" << std::endl;
    return 0;
  }
  controller->ApplyDcuImuOffset(dcu_name);

  // Step 5: Control loop
  float dt = 0;
  float pos_begin = controller->GetPosition(actuator_name);

  for (size_t i = 0; i < 100 * 30; i++) {
    // Read IMU data
    DcuImu imu = controller->GetDcuImuData(dcu_name);
    std::cout << "IMU acc: " << imu.acc[0] << ", " << imu.acc[1] << ", " << imu.acc[2]
              << " gyro: " << imu.gyro[0] << ", " << imu.gyro[1] << ", " << imu.gyro[2]
              << std::endl;

    // Send MIT control command (position, velocity, effort, kp, kd)
    double pos_cmd = pos_begin + 2 * sin(dt);
    controller->SetMitCmd(actuator_name,
                          pos_cmd,  // Position (rad)
                          0,        // Velocity (rad/s)
                          0,        // Effort (Nm)
                          0.9,      // Kp gain
                          0.2);     // Kd gain

    // Read current state
    float pos_now = controller->GetPosition(actuator_name);
    float vel = controller->GetVelocity(actuator_name);
    float effort = controller->GetEffort(actuator_name);
    std::cout << "Position: Cmd " << pos_cmd << " Now " << pos_now << std::endl;

    // Update phase
    dt += 0.01;
    if (dt >= 6.28) dt = 0.0;
    std::this_thread::sleep_for(10ms);
  }

  // Step 6: Cleanup
  controller->DisableAllActuator();
  controller->Stop();

  return 0;
}
```

--------------------------------

### Configure CMake for simple_test

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/linux/simple_test/CMakeLists.txt

Defines the build process for the simple_test executable, including linking the soem library and setting the installation destination.

```cmake
set(SOURCES simple_test.c)
add_executable(simple_test ${SOURCES})
target_link_libraries(simple_test soem)
install(TARGETS simple_test DESTINATION bin)
```

--------------------------------

### Set Target Header Files in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/xyber_api/CMakeLists.txt

Specifies header files to be installed with the library. BASE_DIRS ensures correct relative paths during installation.

```cmake
target_sources(
  ${CUR_TARGET_NAME} INTERFACE FILE_SET HEADERS BASE_DIRS
                               ${CMAKE_CURRENT_SOURCE_DIR} FILES ${head_files})
```

--------------------------------

### Get and Format Namespace in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Retrieves the current superior namespace and then replaces '::' with '_' for use in target names.

```cmake
get_namespace(CUR_SUPERIOR_NAMESPACE)
string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})
```

--------------------------------

### Configure CMake for slaveinfo executable

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/linux/slaveinfo/CMakeLists.txt

Defines the build process for the slaveinfo utility, including linking the soem library and setting the installation destination.

```cmake
set(SOURCES slaveinfo.c)
add_executable(slaveinfo ${SOURCES})
target_link_libraries(slaveinfo soem)
install(TARGETS slaveinfo DESTINATION bin)
```

--------------------------------

### CMakeLists.txt Configuration

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/assistant/ros2_utils/CMakeLists.txt

Defines the minimum CMake version, project name, package dependencies, and installation directory for the ROS 2 package.

```cmake
cmake_minimum_required(VERSION 3.8)
project(ros2_utils)

find_package(ament_cmake REQUIRED)

install(
  DIRECTORY
    launch
  DESTINATION
    share/${PROJECT_NAME}/
)

ament_package()
```

--------------------------------

### Configure EL7031 Slave with PDO Assignments

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/doc/tutorial.txt

Sets up an EL7031 EtherCAT slave by mapping velocity PDOs and configuring motor parameters. Use this function to link slave-specific setup to the pre-operational to safe-operational hook.

```c
int EL7031setup(uint16 slave)
{
    int retval;
    uint16 u16val;
    
    retval = 0;
    
    /* Map velocity PDO assignment via Complete Access*/
    uint16 map_1c12[4] = {0x0003, 0x1601, 0x1602, 0x1604};
    uint16 map_1c13[3] = {0x0002, 0x1a01, 0x1a03};

    retval += ec_SDOwrite(slave, 0x1c12, 0x00, TRUE, sizeof(map_1c12), &map_1c12, EC_TIMEOUTSAFE);
    retval += ec_SDOwrite(slave, 0x1c13, 0x00, TRUE, sizeof(map_1c13), &map_1c13, EC_TIMEOUTSAFE);

    /* set some motor parameters, just as example */
    u16val = 1200; // max motor current in mA
    retval += ec_SDOwrite(slave, 0x8010, 0x01, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);
    u16val = 150; // motor coil resistance in 0.01ohm
    retval += ec_SDOwrite(slave, 0x8010, 0x04, FALSE, sizeof(u16val), &u16val, EC_TIMEOUTSAFE);

    /* set other necessary parameters as needed */
...
    printf("EL7031 slave %d set,retval = %d\n", slave, retval);
    return 1;
}

```

--------------------------------

### Configure CMake for simple_ng

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/simple_ng/CMakeLists.txt

Defines the build process for the simple_ng executable, including source file specification, library linking, and installation destination.

```cmake
set(SOURCES simple_ng.c)
add_executable(simple_ng ${SOURCES})
target_link_libraries(simple_ng soem)
install(TARGETS simple_ng DESTINATION bin)
```

--------------------------------

### Run AgiBot X1 on Real Robot

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Launches the AgiBot X1 control system on the physical robot. This command sets raw network capabilities and starts the main AimRT executable with the robot's configuration.

```bash
cd build/
./run.sh
```

```bash
# The script executes:
# sudo setcap cap_net_raw=ep ./aimrt_main
# ./aimrt_main --cfg_file_path=./cfg/x1_cfg.yaml
```

--------------------------------

### RL Control Module Configuration (YAML)

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Configuration for the Reinforcement Learning Control Module. Specifies control frequency, simulation handles, and ROS2 topic names for various sensor inputs and control outputs. Ensure topic names match your ROS2 setup.

```yaml
# rl_x1.yaml - RL Control Module Configuration
control_frequecy: 1000
use_sim_handles: False

# Topic configuration
sub_joy_vel_name: /cmd_vel_limiter      # Movement command input
sub_imu_data_name: /imu/data            # IMU data (1000 Hz)
sub_joint_state_name: /joint_states     # Joint feedback (1000 Hz)
pub_joint_cmd_name: /joint_cmd          # Joint control output (1000 Hz)

```

--------------------------------

### Build SOEM on Windows with Visual Studio

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/README.md

Use these commands in a Visual Studio command prompt to configure and build the project using NMake.

```shell
mkdir build
cd build
cmake .. -G "NMake Makefiles"
nmake
```

--------------------------------

### Build Executable and Link Library

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/win32/simple_test/CMakeLists.txt

Configures the build system to create an executable named 'simple_test_win' from 'simple_test.c' and links it with the 'soem' library.

```cmake
set(SOURCES simple_test.c)
add_executable(simple_test_win ${SOURCES})
target_link_libraries(simple_test_win soem)
```

--------------------------------

### Launch Joystick GUI

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/doc/joy_stick_module/joy_stick_module.md

Use this command to open the joystick mapping settings GUI. This helps in visualizing and configuring the joystick's button and axis mappings.

```bash
jstest-gtk
```

--------------------------------

### Build SOEM on Linux and macOS

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/README.md

Standard build procedure for Unix-like systems using CMake and make.

```shell
mkdir build
cd build
cmake ..
make
```

--------------------------------

### Initialize SOEM with NIC

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/doc/tutorial.txt

Initializes the SOEM library and binds a socket to the specified network interface. Returns >0 on success.

```c
  /* initialise SOEM, bind socket to ifname */
   if (ec_init(ifname) > 0)

```

--------------------------------

### Spawn SOEM Task

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/doc/tutorial.txt

Adds a main function to spawn a new task that executes SOEM. This is typically called by startup code.

```c
int main (void)
{
   rprintp("SOEM (Simple Open EtherCAT Master)\nSimple test\n");

   task_spawn ("SimpleTest", SimpleTest, 9, 8192, NULL);

```

--------------------------------

### Launch on Real Robot

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Launches the AgiBot X1 on a real robot after configuring the library path. This command should be executed from the build directory.

```bash
cd build/
./run.sh
```

--------------------------------

### Get Current Folder Name with CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/xyber_api/CMakeLists.txt

Extracts the current directory name using a regular expression. This is useful for setting relative paths within the CMake build.

```cmake
string(REGEX REPLACE ".*/(.*
)" "\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})
```

--------------------------------

### Configure Library Path for Real Robot

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Configures the system's library path for real-robot deployment. This involves editing /etc/ld.so.conf to include the project's build/install/lib directory and then refreshing the system environment.

```bash
# Open "/etc/ld.so.conf" as root
sudo vi /etc/ld.so.conf

# Add this path to the end of "/etc/ld.so.conf"
/opt/ros/humble/lib
{YourProjectSource}/build/install/lib

# Refresh system env
sudo ldconfig
```

--------------------------------

### Launch Simulation

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Launches the simulation environment for AgiBot X1. Ensure the handle receiver is connected before running.

```bash
cd build/
./run_sim.sh
```

--------------------------------

### Get Current Folder Name in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/example/CMakeLists.txt

Extracts the current directory name using a regular expression. This is useful for setting relative paths or target names based on the project structure.

```cmake
string(REGEX REPLACE ".*/(.*
)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})
```

--------------------------------

### Build and Test AgiBot X1 Project

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Builds and tests the AgiBot X1 project. Ensure ROS2 Humble is sourced and the url_gitee.bashrc is sourced to use Gitee sources for faster downloads. The DOWNLOAD_FLAGS environment variable is used for Gitee source downloads.

```bash
source /opt/ros/humble/setup.bash
source url_gitee.bashrc

# Build
./build.sh $DOWNLOAD_FLAGS

# Test
./test.sh $DOWNLOAD_FLAGS
```

--------------------------------

### Configure CMake Target and Dependencies

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/control_module/CMakeLists.txt

Sets up the target library, collects source files, configures include directories, and links necessary ROS2 and third-party dependencies.

```cmake
# Get the current folder name
string(REGEX REPLACE ".*/\(.*\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})

# Get namespace
get_namespace(CUR_SUPERIOR_NAMESPACE)
string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})

# Set target name
set(CUR_TARGET_NAME ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR})
set(CUR_TARGET_ALIAS_NAME ${CUR_SUPERIOR_NAMESPACE}::${CUR_DIR})

# Set file collection
file(GLOB_RECURSE head_files ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h)
file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc)
file(GLOB_RECURSE test_files ${CMAKE_CURRENT_SOURCE_DIR}/test/*_test.cc)
list(REMOVE_ITEM src ${test_files})

# Add target
add_library(${CUR_TARGET_NAME} STATIC)
add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})

# Set source file of target
target_sources(${CUR_TARGET_NAME} PRIVATE ${src})

# Set include path of target
target_include_directories(
  ${CUR_TARGET_NAME}
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/third_party/include>
)

target_link_directories(
  ${CUR_TARGET_NAME}
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/third_party/lib>
)

# Set link libraries of target
find_package(std_msgs)
find_package(sensor_msgs)
find_package(geometry_msgs)
target_link_libraries(
  ${CUR_TARGET_NAME}
  PRIVATE yaml-cpp::yaml-cpp
  PUBLIC aimrt::interface::aimrt_module_cpp_interface
         aimrt::interface::aimrt_module_ros2_interface
         my_ros2_proto_aimrt_rpc_gencode
         my_ros2_proto::my_ros2_proto__rosidl_generator_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_fastrtps_cpp
         my_ros2_proto::my_ros2_proto__rosidl_typesupport_introspection_cpp
         std_msgs::std_msgs__rosidl_generator_cpp
         std_msgs::std_msgs__rosidl_typesupport_cpp
         std_msgs::std_msgs__rosidl_typesupport_fastrtps_cpp
         std_msgs::std_msgs__rosidl_typesupport_introspection_cpp
         sensor_msgs::sensor_msgs__rosidl_generator_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_fastrtps_cpp
         sensor_msgs::sensor_msgs__rosidl_typesupport_introspection_cpp
         geometry_msgs::geometry_msgs__rosidl_generator_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_fastrtps_cpp
         geometry_msgs::geometry_msgs__rosidl_typesupport_introspection_cpp
         onnxruntime
         ruckig)

# Set test of target
if(XYBER_X1_INFER_BUILD_TESTS AND test_files)
  add_gtest_target(TEST_TARGET ${CUR_TARGET_NAME} TEST_SRC ${test_files})
endif()
```

--------------------------------

### Run AgiBot X1 Simulation

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Launches the AgiBot X1 simulation environment. This script navigates to the build directory and executes the simulation with the specified configuration.

```bash
cd build/
./run_sim.sh
```

```bash
# The script executes:
# source ./install/share/ros2_plugin_proto/local_setup.bash
# ./aimrt_main --cfg_file_path=./cfg/x1_cfg_sim.yaml
```

--------------------------------

### Build AgiBot X1 Project

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Builds the AgiBot X1 project using CMake. Optionally sources Gitee mirrors for faster downloads in China. Ensure ROS2 Humble environment is sourced before running.

```bash
source /opt/ros/humble/setup.bash

source url_gitee.bashrc  # Optional: use Gitee mirrors
./build.sh $DOWNLOAD_FLAGS
```

--------------------------------

### Configure ROS2 and AimRT RPC Build

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/protocols/my_ros2_proto/CMakeLists.txt

Sets up the project, generates ROS2 interfaces, and creates an AimRT RPC stub generation target.

```cmake
cmake_minimum_required(VERSION 3.24)

# Get the current folder name
string(REGEX REPLACE ".*/\\(.*\\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})

# Get namespace
get_namespace(CUR_SUPERIOR_NAMESPACE)
string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})

# Set target name
set(CUR_TARGET_NAME ${CUR_DIR})

project(${CUR_TARGET_NAME})

find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)

# Set build mode as shared library (ros2 only support shared library)
set(CUR_BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS ON)
# cmake-format: off
rosidl_generate_interfaces(${CUR_TARGET_NAME}
  "msg/JointCommand.msg"
  "msg/JoyStickData.msg"
  "msg/JoyStickState.msg"
  "srv/MyRosRpc.srv"
  DEPENDENCIES std_msgs)
# cmake-format: on
# Restore build mode
set(BUILD_SHARED_LIBS ${CUR_BUILD_SHARED_LIBS})

if(NOT TARGET ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_cpp)
  add_library(${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_cpp ALIAS ${CUR_TARGET_NAME}__rosidl_typesupport_cpp)
endif()

if(NOT TARGET ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_fastrtps_cpp)
  add_library(${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_fastrtps_cpp ALIAS ${CUR_TARGET_NAME}__rosidl_typesupport_fastrtps_cpp)
endif()

# Generate AimRT RPC stub code, target name: ${PROJECT_NAME}_aimrt_rpc_gencode
add_ros2_aimrt_rpc_gencode_target_for_one_file(
  TARGET_NAME ${CUR_TARGET_NAME}_aimrt_rpc_gencode # Generated target name
  PACKAGE_NAME ${CUR_TARGET_NAME} # ros2 package name
  PROTO_FILE ${CMAKE_CURRENT_SOURCE_DIR}/srv/MyRosRpc.srv # ros2 srv file
  GENCODE_PATH ${CMAKE_CURRENT_BINARY_DIR} # Generated code save path
  DEP_PROTO_TARGETS
    # Depend on ROS2 MSG
    rclcpp::rclcpp
    ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_generator_cpp
    ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_cpp
    ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_fastrtps_cpp
    ${CUR_TARGET_NAME}::${CUR_TARGET_NAME}__rosidl_typesupport_introspection_cpp)
add_library(${CUR_TARGET_ALIAS_NAME}_aimrt_rpc_gencode ALIAS ${CUR_TARGET_NAME}_aimrt_rpc_gencode)

ament_export_dependencies(rosidl_default_runtime)
ament_package()
```

--------------------------------

### Define Platform-Specific Build Settings

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/CMakeLists.txt

Configures compiler flags, include directories, and system libraries based on the detected operating system.

```cmake
if (WIN32)
    set(OS "win32")
    add_compile_options(/WX-)
    include_directories(oshw/win32/wpcap/Include oshw/win32/wpcap/Include/pcap)
    get_property(INC_DIRS DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} PROPERTY INCLUDE_DIRECTORIES)
    if (CMAKE_SIZEOF_VOID_P EQUAL 8)
        link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib/x64)
    elseif (CMAKE_SIZEOF_VOID_P EQUAL 4)
        link_directories(${CMAKE_CURRENT_LIST_DIR}/oshw/win32/wpcap/Lib)
    endif ()
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} /D _CRT_SECURE_NO_WARNINGS")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  /WX")
    set(OS_LIBS wpcap.lib Packet.lib Ws2_32.lib Winmm.lib)
elseif (UNIX AND NOT APPLE)
    set(OS "linux")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
    set(OS_LIBS pthread rt)
elseif (APPLE)
    # This must come *before* linux or MacOSX will identify as Unix.
    set(OS "macosx")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
    set(OS_LIBS pthread pcap)
elseif (${CMAKE_SYSTEM_NAME} MATCHES "rt-kernel")
    set(OS "rtk")
    message(STATUS "ARCH is ${ARCH}")
    message(STATUS "BSP is ${BSP}")
    include_directories(oshw/${OS}/${ARCH})
    file(GLOB OSHW_EXTRA_SOURCES oshw/${OS}/${ARCH}/*.c)
    set(OSHW_SOURCES "${OS_HW_SOURCES} ${OSHW_ARCHSOURCES}")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wextra -Werror")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-but-set-variable")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-unused-function")
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wno-format")
    set(OS_LIBS "-Wl,--start-group -l${BSP} -l${ARCH} -lkern -ldev -lsio -lblock -lfs -lusb -llwip -leth -li2c -lrtc -lcan -lnand -lspi -lnor -lpwm -ladc -ltrace -lc -lm -Wl,--end-group")
elseif (${CMAKE_SYSTEM_NAME} MATCHES "rtems")
    message(STATUS "Building for RTEMS")
    set(OS "rtems")
    set(SOEM_LIB_INSTALL_DIR ${LIB_DIR})
    set(BUILD_TESTS FALSE)
endif ()
```

--------------------------------

### Configure Velocity Command Mappings

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Sets up velocity command mappings using geometry_msgs/Twist, associating buttons and joystick axes with linear and angular velocities. Includes velocity limits.

```yaml
twist_pubs:
  - topic_name: /cmd_vel
    buttons: [4]           # LB button (hold to enable)
    axis:
      linear-x: 1          # Left stick Y-axis -> forward/backward
      linear-y: 0          # Left stick X-axis -> strafe
      angular-z: 3         # Right stick X-axis -> rotation
    velocity_limit_lb: [-0.5, -0.3, -0.5]   # Min velocity limits
    velocity_limit_ub: [0.5, 0.3, 0.5]      # Max velocity limits
```

--------------------------------

### Source ROS2 Protocol Environment

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/doc/tutorials.md

Execute this command in the terminal to initialize the ROS2 environment before launching AimRT or associated ROS2 processes.

```bash
source ./install/ros2_setup.sh
```

--------------------------------

### Configure State Transition Button Mappings

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Defines button mappings for various state transitions like idle, zero, stand, walk, keep, and plan modes. Each state is associated with a specific button index.

```yaml
float_pubs:
  - topic_name: /idle_mode
    buttons: [7]           # START button
  - topic_name: /zero_mode
    buttons: [1]           # B button
  - topic_name: /stand_mode
    buttons: [0]           # A button
  - topic_name: /walk_mode
    buttons: [2]           # X button (walk_leg mode)
  - topic_name: /walk_mode2
    buttons: [3]           # Y button (walk_leg_arm mode)
  - topic_name: /keep_mode
    buttons: [6]           # BACK button
  - topic_name: /plan_mode
    buttons: [5]           # RB button
```

--------------------------------

### Configure and Add Protobuf Target

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/protocols/example_proto/CMakeLists.txt

Uses directory and namespace information to define a target name and generate Protobuf code.

```cmake
# Get the current folder name
string(REGEX REPLACE ".*/\\(.*\\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})

# Get namespace
get_namespace(CUR_SUPERIOR_NAMESPACE)
string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})

# Set target name
set(CUR_TARGET_NAME ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR})
set(CUR_TARGET_ALIAS_NAME ${CUR_SUPERIOR_NAMESPACE}::${CUR_DIR})

# Add target
add_protobuf_gencode_target_for_proto_path(
  TARGET_NAME ${CUR_TARGET_NAME}_pb_gencode
  PROTO_PATH ${CMAKE_CURRENT_SOURCE_DIR}
  GENCODE_PATH ${CMAKE_CURRENT_BINARY_DIR})
add_library(${CUR_TARGET_ALIAS_NAME}_pb_gencode ALIAS ${CUR_TARGET_NAME}_pb_gencode)
```

--------------------------------

### Configure eepromtool executable in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/test/win32/eepromtool/CMakeLists.txt

Defines the source files and links the required SOEM library for the Windows eepromtool executable.

```cmake
set(SOURCES eepromtool.c)
add_executable(eepromtool_win ${SOURCES})
target_link_libraries(eepromtool_win soem)
```

--------------------------------

### Add Assistant Subdirectories

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Includes subdirectories for assistant-related modules. Ensure these paths are correct relative to the CMakeLists.txt file.

```cmake
add_subdirectory(assistant/native_ros2_channel_publisher)
```

```cmake
add_subdirectory(assistant/native_ros2_rpc_client)
```

```cmake
add_subdirectory(assistant/ros2_utils)
```

--------------------------------

### Directory Structure

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/README.md

Displays the directory structure of the AgiBot X1 Infer project. This includes build scripts, CMake files, source code, documentation, and test scripts.

```bash
.
├── build.sh              # Build scripts
├── cmake                 # CMake scripts for build dependencies
│   ├── GetAimRT.cmake
│   ├── GetGTest.cmake
│   └── NamespaceTool.cmake
├── CMakeLists.txt        # Top-level CMakeLists.txt
├── format.sh             # Formatting scripts
├── README.md             # README document
├── doc                   # Development guide directory
├── src                   # Source code directory
│   ├── CMakeLists.txt    # CMakeLists.txt for the source code directory
│   ├── assistant         # ROS2 simulation and example project directory
│   ├── install           # Configuration script directory
│   ├── module            # Module directory
│   ├── pkg               # Deployment directory
│   └── protocols         # Protocol directory
└── test.sh               # Testing scripts
```

--------------------------------

### Verify Real-Time Kernel

Source: https://context7.com/agibottech/agibot_x1_infer/llms.txt

Checks if the system is running with a real-time kernel, which is required for the AgiBot X1 robot's real-time performance. Both commands should indicate real-time capabilities.

```bash
uname -a  # Should show PREEMPT_RT
cat /sys/kernel/realtime  # Should return 1
```

--------------------------------

### Set Root Namespace

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Sets the root namespace for the project. This should be the first configuration step.

```cmake
set_root_namespace("xyber_x1_infer")
```

--------------------------------

### Custom Build All Target

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Defines a custom target 'x1_rl_infer_aimrt_build_all' that copies binaries and depends on other targets. This is used to build the entire project.

```cmake
add_custom_target(
  x1_rl_infer_aimrt_build_all ALL
  COMMAND ${CMAKE_COMMAND} -E copy_directory ${CUR_INSTALL_SOURCE_DIR}/bin ${CMAKE_BINARY_DIR}
  DEPENDS aimrt::runtime::main
          xyber_x1_infer::pkg1)
```

--------------------------------

### Auto-Configure EtherCAT Slaves

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/doc/tutorial.txt

Finds and auto-configures EtherCAT slaves on the network. It sets up mailboxes for supported slaves and requests them to enter PRE_OP state. Returns the number of configured slaves.

```c
   /* find and auto-config slaves */
   if ( ec_config_init(FALSE) > 0 )
   {
      rprintp("%d slaves found and configured.\n",ec_slavecount);

```

--------------------------------

### Set Target Link Directories in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Specifies the directories where libraries should be searched for linking. Uses `BUILD_INTERFACE` for build-time visibility.

```cmake
target_link_directories(
  ${CUR_TARGET_NAME}
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/third_party/lib>
)
```

--------------------------------

### Add Library and Alias Target in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Creates a static library target and an alias for it, using the previously defined target names.

```cmake
add_library(${CUR_TARGET_NAME} STATIC)
add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})
```

--------------------------------

### Add Protocol Subdirectories

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/CMakeLists.txt

Includes subdirectories for protocol definitions. These are essential for inter-process communication.

```cmake
add_subdirectory(protocols/my_proto)
```

```cmake
add_subdirectory(protocols/my_ros2_proto)
```

```cmake
add_subdirectory(protocols/example_proto)
```

--------------------------------

### Glob Source and Header Files in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/xyber_api/CMakeLists.txt

Recursively finds all header files in the 'include' directory and source files in the root directory. Use with caution on large projects as it can slow down CMake configuration.

```cmake
file(GLOB_RECURSE head_files ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h)
file(GLOB_RECURSE src src/*.cpp)
```

--------------------------------

### Configure EtherCAT Slave Groups at Once

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/dcu_driver_module/xyber_controller/third_party/soem/doc/tutorial.txt

Configures all slave groups simultaneously by calling `ec_config_map_group` with an argument of 0. This option shares IOmap and stores group IOmap data at the `EC_LOGGROUPOFFSET`.

```c
   ec_config_map_group(&IOmap, 0);

```

--------------------------------

### Set Target Include Directories in CMake

Source: https://github.com/agibottech/agibot_x1_infer/blob/main/src/module/joy_stick_module/CMakeLists.txt

Configures the include paths for the target library. Uses `BUILD_INTERFACE` for paths visible during build and potentially at runtime.

```cmake
target_include_directories(
  ${CUR_TARGET_NAME}
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/..>
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/third_party/include>
)
```