diff --git a/agv_calib_brain/src/agv_calib_core/CMakeLists.txt b/agv_calib_brain/src/agv_calib_core/CMakeLists.txt
index 4950ca7..5d02b51 100644
--- a/agv_calib_brain/src/agv_calib_core/CMakeLists.txt
+++ b/agv_calib_brain/src/agv_calib_core/CMakeLists.txt
@@ -1,49 +1,78 @@
 cmake_minimum_required(VERSION 3.8)
 project(agv_calib_core)
 
-# 1. 寻找 ROS 2 依赖
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# 1. 寻找 ROS 2 核心依赖
 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)
+# ==========================================================
+# 🚨 核心排雷修复：放弃 find_package，改用 PkgConfig 寻找 gRPC
+# ==========================================================
+find_package(Protobuf REQUIRED)      # Protobuf 依然可以用自带的找
+find_package(PkgConfig REQUIRED)     # 引入 Linux 底层 PkgConfig 工具
+# 强制让系统去底层寻找 grpc++ 库，并映射为虚拟目标 PkgConfig::GRPC
+pkg_check_modules(GRPC REQUIRED IMPORTED_TARGET grpc++) 
+# ==========================================================
 
-# 3. 设置 Proto 文件路径与自动生成的源码输出路径
+# 3. 设置 Proto 文件夹路径与输出路径 
 set(PROTO_DIR "${CMAKE_CURRENT_SOURCE_DIR}/proto")
-set(PROTO_FILE "${PROTO_DIR}/agv_calib_control.proto")
+file(GLOB PROTO_FILES "${PROTO_DIR}/*.proto") 
+
 set(PROTO_OUT_DIR "${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}"
+# 4. 自动生成 gRPC C++ 源码
+find_program(GRPC_CPP_PLUGIN_EXECUTABLE grpc_cpp_plugin REQUIRED)
+
+set(PROTO_SRCS "")
+set(PROTO_HDRS "")
+foreach(PROTO_FILE ${PROTO_FILES})
+    get_filename_component(FIL_WE ${PROTO_FILE} NAME_WE)
+    list(APPEND PROTO_SRCS "${PROTO_OUT_DIR}/${FIL_WE}.pb.cc" "${PROTO_OUT_DIR}/${FIL_WE}.grpc.pb.cc")
+    list(APPEND PROTO_HDRS "${PROTO_OUT_DIR}/${FIL_WE}.pb.h" "${PROTO_OUT_DIR}/${FIL_WE}.grpc.pb.h")
+    
+    add_custom_command(
+        OUTPUT "${PROTO_OUT_DIR}/${FIL_WE}.pb.cc"
+               "${PROTO_OUT_DIR}/${FIL_WE}.pb.h"
+               "${PROTO_OUT_DIR}/${FIL_WE}.grpc.pb.cc"
+               "${PROTO_OUT_DIR}/${FIL_WE}.grpc.pb.h"
+        COMMAND protoc
+        # ==========================================================
+        # 🚨 核心修复：强行解锁 proto3 的 optional 实验性特性语法
+        # ==========================================================
+        ARGS --experimental_allow_proto3_optional    # <--- 🚨 就是加了这一行！
+             --proto_path="${PROTO_DIR}"
+             --cpp_out="${PROTO_OUT_DIR}" 
+             --grpc_out="${PROTO_OUT_DIR}"
+             --plugin=protoc-gen-grpc="${GRPC_CPP_PLUGIN_EXECUTABLE}"
+             "${PROTO_FILE}"
+        DEPENDS "${PROTO_FILE}"
+    )
+endforeach()
+
+# 5. 将所有生成的网络源码统一打包成独立的 C++ 共享库
+add_library(${PROJECT_NAME}_grpc_lib SHARED ${PROTO_SRCS})
+target_include_directories(${PROJECT_NAME}_grpc_lib PUBLIC "${PROTO_OUT_DIR}")
+
+# 🚨 核心修复 2：这里必须改成链接 PkgConfig::GRPC
+target_link_libraries(${PROJECT_NAME}_grpc_lib 
+    PkgConfig::GRPC 
+    protobuf::libprotobuf
 )
 
-# 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)
+# 6. 编译具体的标定业务主控节点
+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) 
 
+# 必须链接刚才生成的协议库
+target_link_libraries(brain_node ${PROJECT_NAME}_grpc_lib)
+
+# 7. ROS 2 安装规则
 install(TARGETS brain_node DESTINATION lib/${PROJECT_NAME})
-ament_package()
+install(DIRECTORY proto/ DESTINATION share/${PROJECT_NAME}/proto)
+
+ament_package()
\ No newline at end of file
diff --git a/agv_calib_brain/src/agv_calib_core/src/master_node.cpp b/agv_calib_brain/src/agv_calib_core/src/master_node.cpp
new file mode 100644
index 0000000..f637f03
--- /dev/null
+++ b/agv_calib_brain/src/agv_calib_core/src/master_node.cpp
@@ -0,0 +1,12 @@
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char **argv) {
+    rclcpp::init(argc, argv);
+    auto node = rclcpp::Node::make_shared("master_node");
+    
+    RCLCPP_INFO(node->get_logger(), "🚀 AGV 标定主控大脑编译成功，gRPC 契约已挂载！");
+    
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}
\ No newline at end of file