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Fix fast_lio for jazzy build

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This commit is contained in:
Matt Spencer
2026-07-17 09:34:33 +00:00
parent 08bf9b81bc
commit a553dcce5c
3 changed files with 31 additions and 1 deletions
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Dockerfile
+4 -1
View File
@@ -24,6 +24,9 @@ RUN cd ./src/upstream/livox_ros_driver2 && \
ln -sfn launch_ROS2 launch && \
ln -sfn package_ROS2.xml package.xml
RUN cd ./src/upsstream/FAST_LIO && \
git submodule update --init
# Apply patches to upstream
# RUN ./patches/apply_patches.sh
@@ -58,7 +61,7 @@ RUN cd src/upstream/livox_sdk && \
# Build the workspace with symlink install
RUN . /opt/ros/jazzy/setup.sh && \
colcon build --symlink-install \
--packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk fast_lio \
--packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk \
--cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
# Source the overlay on container startup
patches/apply_patches.sh
+1
View File
@@ -25,3 +25,4 @@ apply_patch_once() {
apply_patch_once "$ROOT_DIR/src/upstream/livox_sdk" "$PATCH_DIR/livox_sdk.patch"
apply_patch_once "$ROOT_DIR/src/upstream/slam_gmapping" "$PATCH_DIR/slam_gmapping.patch"
apply_patch_once "$ROOT_DIR/src/upstream/FAST_LIO" "$PATCH_DIR/fast_lio.patch"
patches/fast_lio.patch
+26
View File
@@ -0,0 +1,26 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index be3040b..4931c35 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,17 +5,16 @@ if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()
-ADD_COMPILE_OPTIONS(-std=c++14)
-ADD_COMPILE_OPTIONS(-std=c++14)
-set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
+ADD_COMPILE_OPTIONS(-std=c++17)
+set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fexceptions")
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")