实现 IMU 数据发布 + CRC

CMakeLists.txt

@@ -1,4 +1,3 @@
-
 cmake_minimum_required(VERSION 3.8)
 project(amadeus_26)
 
@@ -13,6 +12,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 # 添加 SDK 库路径
 set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
@@ -32,9 +32,19 @@ ament_target_dependencies(uart_transmitter_node
   std_msgs
 )
 
+# ==================== IMU 节点 ====================
+add_executable(imu_receiver_node src/imu_receiver_node.cpp)
+
+ament_target_dependencies(imu_receiver_node 
+  rclcpp 
+  std_msgs
+  geometry_msgs
+)
+
 # ==================== 安装目标 ====================
 install(TARGETS 
   uart_transmitter_node
+  imu_receiver_node
   DESTINATION lib/${PROJECT_NAME}
 )