惯导初步实现

2026-03-26 19:48:05 +08:00
parent 003ab44016
commit 7be3a7bdab
2 changed files with 523 additions and 0 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,10 +45,22 @@ ament_target_dependencies(imu_receiver_node
  Eigen3
 )

+# ==================== 导航节点 ====================
+add_executable(navigation_node src/navigation_node.cpp)
+
+ament_target_dependencies(navigation_node 
+  rclcpp 
+  std_msgs
+  geometry_msgs
+  sensor_msgs
+  Eigen3
+)
+
 # ==================== 安装目标 ====================
 install(TARGETS 
  uart_transmitter_node
  imu_receiver_node
+  navigation_node
  DESTINATION lib/${PROJECT_NAME}
 )