feat:完善了自动标定车间的环境

agv_calib_brain/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_calib_brain)
+
+# 1. 寻找 ROS 2 依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# 2. 寻找 gRPC 和 Protobuf 依赖
+find_package(Protobuf REQUIRED)
+find_package(gRPC REQUIRED)
+
+# 3. 设置 Proto 文件路径与自动生成的源码输出路径
+set(PROTO_DIR "${CMAKE_CURRENT_SOURCE_DIR}/proto")
+set(PROTO_FILE "${PROTO_DIR}/agv_calib_control.proto")
+set(PROTO_OUT_DIR "${CMAKE_CURRENT_BINARY_DIR}/grpc_gen")
+file(MAKE_DIRECTORY ${PROTO_OUT_DIR})
+
+# 4. 自动生成 gRPC C++ 源码 (每次 colcon build 自动执行)
+find_program(GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin)
+add_custom_command(
+    OUTPUT "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+           "${PROTO_OUT_DIR}/agv_calib_control.pb.h"
+           "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+           "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.h"
+    COMMAND protoc
+    ARGS --proto_path="${PROTO_DIR}"
+         --cpp_out="${PROTO_OUT_DIR}" 
+         --grpc_out="${PROTO_OUT_DIR}"
+         --plugin=protoc-gen-grpc="${GRPC_CPP_PLUGIN_EXECUTABLE}"
+         "${PROTO_FILE}"
+    DEPENDS "${PROTO_FILE}"
+)
+
+# 5. 将生成的网络源码打包成独立的 C++ 库
+add_library(agv_grpc_proto_lib SHARED 
+    "${PROTO_OUT_DIR}/agv_calib_control.pb.cc"
+    "${PROTO_OUT_DIR}/agv_calib_control.grpc.pb.cc"
+)
+target_include_directories(agv_grpc_proto_lib PUBLIC "${PROTO_OUT_DIR}")
+target_link_libraries(agv_grpc_proto_lib gRPC::grpc++ protobuf::libprotobuf)
+
+# 6. 编译您的 ROS 2 节点主程序
+add_executable(brain_node src/brain_node.cpp)
+ament_target_dependencies(brain_node rclcpp)
+# 🚨 必须链接刚才生成的 gRPC 库
+target_link_libraries(brain_node agv_grpc_proto_lib) 
+
+install(TARGETS brain_node DESTINATION lib/${PROJECT_NAME})
+ament_package()