初步更改

CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.8)
+project(amadeus_26)
+
+# 使用 C++17
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED 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)
+
+# 包含目录
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}
+  ${TRANSMITTER_SDK_PATH}/inc
+)
+
+# ==================== CAN 节点 ====================
+add_executable(transmitter_test_node src/transmitter_test_node.cpp)
+
+set_target_properties(transmitter_test_node PROPERTIES
+  BUILD_WITH_INSTALL_RPATH FALSE
+  LINK_FLAGS "-Wl,-rpath,'${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/${PROJECT_NAME}
+)
+
+# 安装 launch 文件
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+  OPTIONAL
+)
+
+ament_package()