ROS2的编译机制和工程组织形式

以Nav2库为模板和样例

详细分析一个ROS2 CMakeLists.txt文件

https://www.guyuehome.com/detail?id=1825485757754474497

参考：

ament_cmake user documentation — ROS 2 Documentation: Humble documentation

https://zhuanlan.zhihu.com/p/354346905

官方文档

Writing an action server and client (C++)

Writing an action server and client (C++) — ROS 2 Documentation: Foxy documentation