docs(nav): 阅读路径导航 + 数字统一

src/cpp_robot_tf2/CMakeLists.txt

@@ -16,6 +16,15 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+# 必备: 找 ament_cmake + 依赖
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
 set(THIS_PACKAGE_INCLUDE_DEPENDS
   rclcpp
   sensor_msgs
@@ -25,7 +34,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   tf2_geometry_msgs
 )
 
-# 库
+# 库(只含类实现,不含 main)
 add_library(${PROJECT_NAME}_core SHARED
   src/joint_state_publisher.cpp
   src/tf2_listener.cpp
@@ -36,11 +45,11 @@ target_include_directories(${PROJECT_NAME}_core PUBLIC
 )
 ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-# 可执行
-add_executable(joint_state_publisher_cpp src/joint_state_publisher.cpp)
+# 可执行(main 单独文件)
+add_executable(joint_state_publisher_cpp src/joint_state_publisher_main.cpp)
 target_link_libraries(joint_state_publisher_cpp ${PROJECT_NAME}_core)
 
-add_executable(tf2_listener_cpp src/tf2_listener.cpp)
+add_executable(tf2_listener_cpp src/tf2_listener_main.cpp)
 target_link_libraries(tf2_listener_cpp ${PROJECT_NAME}_core)
 
 # 安装
@@ -54,4 +63,12 @@ install(DIRECTORY launch urdf
   DESTINATION share/${PROJECT_NAME}
 )
 
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(test_tf2_lookup test/test_tf2_lookup.cpp)
+  ament_target_dependencies(test_tf2_lookup
+    rclcpp ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  target_link_libraries(test_tf2_lookup ${PROJECT_NAME}_core)
+endif()
+
 ament_package()