导航与中央节点初步实现（未测试）

2026-03-24 03:39:56 +08:00
parent 7f4aaf78cd
commit f041821378
6 changed files with 1126 additions and 27 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,12 +43,32 @@ ament_target_dependencies(imu_receiver_node
  sensor_msgs
 )

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

 # 安装 launch 文件
 install(DIRECTORY launch