Fix livox driver build

Also add caching to the apt-get installs

.devcontainer/jazzy/Dockerfile.jazzy

@@ -19,13 +19,15 @@ RUN groupadd --gid $USER_GID $USERNAME \
     && rm -rf /var/lib/apt/lists/*
 
 # Make sure the base image is completely up to date
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
 
 
 # C++ development tools
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     build-essential \
     cmake \
@@ -37,7 +39,8 @@ RUN apt-get update \
     && rm -rf /var/lib/apt/lists/*
 
 # Python development tools
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     python3-pip \
     python3-dev \
@@ -52,17 +55,18 @@ RUN apt-get update \
 # NOTE: There should be a check in your CI that this file is up to date.
 # Something like: 
 #   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
 # The --mount=type=cache option caches the apt packages with buildkit
 # The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
 # this enables parallel builds for different architectures without cache conflicts
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
-    rm -f /etc/apt/apt.conf.d/docker-clean \
+#     rm -f /etc/apt/apt.conf.d/docker-clean \
-    && apt-get update \
+#     && apt-get update \
-    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+#     && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
-    && rm -rf /var/lib/apt/lists/*
+#     && rm -rf /var/lib/apt/lists/*
 
-RUN apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    apt-get update \
     && apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*

Dockerfile

@@ -18,19 +18,31 @@ RUN ./patches/apply_patches.sh
 # NOTE: There should be a check in your CI that this file is up to date.
 # Something like: 
 #   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# COPY rosdep-packages.txt /tmp/rosdep-packages.txt
 # The --mount=type=cache option caches the apt packages with buildkit
 # The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
 # this enables parallel builds for different architectures without cache conflicts
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+#     rm -f /etc/apt/apt.conf.d/docker-clean \
+#     && apt-get update \
+#     && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+#     && rm -rf /var/lib/apt/lists/*
+
+# Make sure the base image is completely up to date
+# ros:jazzy ships /etc/apt/apt.conf.d/docker-clean which purges downloaded .debs;
+# remove it so the --mount=type=cache on /var/cache/apt actually retains archives.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
     rm -f /etc/apt/apt.conf.d/docker-clean \
     && apt-get update \
-    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+    && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
 
+
 # Install dependencies with rosdep
 # This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
-RUN apt-get update && \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean && \
+    apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
@@ -38,9 +50,7 @@ RUN apt-get update && \
 # Build the workspace with symlink install
 # livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
 RUN . /opt/ros/jazzy/setup.sh && \
-    colcon build --symlink-install \
+    colcon build --symlink-install
-    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
-
 # Source the overlay on container startup
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \
     echo "source /ros2_ws/install/setup.bash" >> /root/.bashrc

patches/livox_ros_driver2.patch

@@ -1,3 +1,30 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 7344d08..3d531a9 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,3 +1,9 @@
++# Default to the ROS2 build unless ROS1 is explicitly requested, so the else()
++# (ROS2) branch below is taken when ROS_EDITION is unset or set to "ROS2".
++if(NOT ROS_EDITION)
++  set(ROS_EDITION "ROS2")
++endif()
++
+ # judge which cmake codes to use 
+ if(ROS_EDITION STREQUAL "ROS1")
+ 
+@@ -191,6 +197,12 @@ else(ROS_EDITION STREQUAL "ROS2")
+   cmake_minimum_required(VERSION 3.14)
+   project(livox_ros_driver2)
+ 
++  # Fall back to the sourced ROS distro when -DDISTRO_ROS was not passed, so a
++  # plain `colcon build` behaves the same as the flagged Dockerfile build.
++  if(NOT DISTRO_ROS)
++    set(DISTRO_ROS "$ENV{ROS_DISTRO}")
++  endif()
++
+   # Default to C99
+   if(NOT CMAKE_C_STANDARD)
+     set(CMAKE_C_STANDARD 99)
 diff --git a/launch b/launch
 new file mode 120000
 index 0000000..163fb01