帧定义实现，串口工具更新

CMakeLists.txt

@@ -1,3 +1,4 @@
+
 cmake_minimum_required(VERSION 3.8)
 project(amadeus_26)
 
@@ -5,14 +6,14 @@ project(amadeus_26)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# 导出 compile_commands.json 给 clangd 使用
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 # 查找依赖
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
-# 查找 serial 库 (用于 UART 节点)
-find_package(serial REQUIRED)
-
 # 添加 SDK 库路径
 set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
 link_directories(${TRANSMITTER_SDK_PATH}/lib/linux/x64)
@@ -23,37 +24,16 @@ include_directories(
   ${TRANSMITTER_SDK_PATH}/inc
 )
 
-# ==================== CAN 节点 ====================
-add_executable(transmitter_test_node src/transmitter_test_node.cpp)
-
-set_target_properties(transmitter_test_node PROPERTIES
-  BUILD_WITH_INSTALL_RPATH FALSE
-  LINK_FLAGS "-Wl,-rpath,'${TRANSMITTER_SDK_PATH}/lib/linux/x64'"
-)
-
-ament_target_dependencies(transmitter_test_node 
-  rclcpp 
-  std_msgs
-)
-
-target_link_libraries(transmitter_test_node
-  dm_device
-  usb-1.0
-  pthread
-)
-
 # ==================== UART 节点 ====================
 add_executable(uart_transmitter_node src/uart_transmitter_node.cpp)
 
 ament_target_dependencies(uart_transmitter_node 
   rclcpp 
   std_msgs
-  serial
 )
 
 # ==================== 安装目标 ====================
 install(TARGETS 
-  transmitter_test_node
   uart_transmitter_node
   DESTINATION lib/${PROJECT_NAME}
 )