fix file cmake

geometry_msgs/CMakeLists.txt

@@ -4,20 +4,39 @@ project(geometry_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
-if (NOT TARGET std_msgs)
-    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
-endif()
-
 # Thư viện header-only
 add_library(geometry_msgs INTERFACE)
 
 # Include path tới thư mục chứa file header
-target_include_directories(geometry_msgs INTERFACE
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+target_include_directories(geometry_msgs
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
 )
 
 # Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
 target_link_libraries(geometry_msgs INTERFACE std_msgs)
 
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS geometry_msgs
+  EXPORT geometry_msgs-targets
+  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
+  LIBRARY DESTINATION lib      # Thư viện động .so
+  RUNTIME DESTINATION bin      # File thực thi (nếu có)
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+# --- Xuất export set costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/geometry_msgs/costmap_2dTargets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(geometry_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE geometry_msgs::geometry_msgs) ---
+install(EXPORT geometry_msgs-targets 
+  FILE geometry_msgs-targets.cmake
+  NAMESPACE geometry_msgs::
+  DESTINATION lib/cmake/geometry_msgs
+)
+
 add_executable(test_geometry test/main.cpp)
 target_link_libraries(test_geometry PRIVATE geometry_msgs)
+

geometry_msgs/include/geometry_msgs/Pose.h

@@ -13,6 +13,8 @@ struct Pose
 {
     Point position;
     Quaternion orientation;
+
+    Pose() = default;
 };
 
 } // namespace geometry_msgs

geometry_msgs/include/geometry_msgs/Quaternion.h

@@ -12,7 +12,7 @@ struct Quaternion
     double w;
 
     // Constructor mặc định
-    Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) {}
+    Quaternion() : x(0.0), y(0.0), z(0.0), w(1.0) {}
 
     // Constructor khởi tạo nhanh
     Quaternion(double x_, double y_, double z_, double w_)