94 lines
2.6 KiB
Markdown
94 lines
2.6 KiB
Markdown
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# 🧠 AGV 标定中央大脑
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**环境**: Ubuntu 22.04 + ROS 2 Humble | **语言**: C++ | **通信**: gRPC over Wi-Fi 6
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> 标定车间的"发令大脑"，通过局域网跨平台遥控 Windows 车端执行动作并拉取遥测数据。
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---
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## 📋 目录
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1. [系统依赖安装](#1-系统依赖一键安装)
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2. [VS Code 插件配置](#2-vs-code-核心插件配置)
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3. [解决 IntelliSense 报错](#3-解决-vs-code-红色波浪线)
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4. [编译与运行](#4-编译与运行)
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---
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## 1. 系统依赖一键安装
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在 Ubuntu 22.04 终端执行以下命令：
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```bash
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sudo apt update
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sudo apt install -y build-essential cmake pkg-config gdb
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sudo apt install -y protobuf-compiler-grpc libgrpc++-dev libprotobuf-dev protobuf-compiler
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```
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> ⚠️ **警告**: 严禁自行去 GitHub 源码编译 gRPC，直接使用 Ubuntu 官方 APT 源即可，避免浪费时间与报错。
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---
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## 2. VS Code 核心插件配置
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打开 VS Code → 扩展商店 (Extensions)，**必须安装**以下 4 个插件：
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| 插件名称 | 开发者 | 用途 |
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|---------|--------|------|
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| **C/C++** | Microsoft | 代码补全与 GDB 调试 |
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| **CMake Tools** | Microsoft | 底部快速构建状态栏 |
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| **ROS** | Microsoft | 自动识别 `colcon` 工作空间 |
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| **vscode-proto3** | zxh404 | `.proto` 文件语法高亮 |
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---
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## 3. 解决 VS Code 红色波浪线 (IntelliSense 报错)
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**问题原因**: gRPC 生成的 `.pb.h` 文件在 `colcon build` 阶段动态生成于 `build/` 目录，VS Code 初始无法识别。
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**修复步骤**:
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1. 按 `Ctrl+Shift+P` → 输入 `C/C++: Edit Configurations (JSON)`
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2. 确保 `c_cpp_properties.json` 包含以下配置：
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```json
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{
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"configurations": [
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{
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"name": "ROS2",
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"includePath": [
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"${workspaceFolder}/**",
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"/opt/ros/humble/include/**",
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"${workspaceFolder}/build/agv_calib_brain/grpc_gen/**"
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],
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"compilerPath": "/usr/bin/gcc",
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"cStandard": "c17",
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"cppStandard": "c++17",
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"intelliSenseMode": "linux-gcc-x64"
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}
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]
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}
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```
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> 💡 **提示**: `grpc_gen` 是 CMakeLists 中配置的自动生成源码路径，请根据实际情况微调。
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---
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## 4. 编译与运行 (CMake 自动化)
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> ✨ **无需手动执行 `protoc`** —— CMakeLists.txt 已配置自动化脚本，编译时自动生成 C++ 网络源码。
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### 4.1 编译
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```bash
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# 回到工作空间根目录（如 ~/agv_ws）
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source /opt/ros/humble/setup.bash
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colcon build --packages-select agv_calib_brain --symlink-install
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```
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### 4.2 运行
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```bash
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source install/setup.bash
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ros2 run agv_calib_brain brain_node
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```
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