机器人项目完成

protocol_ws/virtual_robot_prococol/CMakeLists.txt

@@ -8,13 +8,26 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(virtual_robot_prococol REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(rclcpp_action REQUIRED)
+
+
+#添加可执行文件
+add_executable(robot_status src/robot_status.cpp)
+add_executable(robot_control src/robot_control.cpp)
+
+# 链接开发库
+ament_target_dependencies(robot_status rclcpp virtual_robot_prococol std_srvs rclcpp_action)
+ament_target_dependencies(robot_control rclcpp virtual_robot_prococol std_srvs rclcpp_action)
+
 
 # 增加自定义接口包
 find_package(rosidl_default_generators REQUIRED)
-
 # 添加接口生成
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/RobotStatus.msg"
+  "msg/RobotCommand.msg"
   "action/TargetPosition.action"
 )
 
@@ -31,4 +44,9 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
+install(
+  TARGETS robot_status robot_control
+  DESTINATION lib/${PROJECT_NAME}
+)
+
 ament_package()