From a553dcce5cf36a8f2c3ce5f424a3cac9e9da1e89 Mon Sep 17 00:00:00 2001
From: Matt Spencer <Matthew.Spencer@amd.com>
Date: Fri, 17 Jul 2026 09:34:33 +0000
Subject: [PATCH] Fix fast_lio for jazzy build

---
 Dockerfile               |  5 ++++-
 patches/apply_patches.sh |  1 +
 patches/fast_lio.patch   | 26 ++++++++++++++++++++++++++
 3 files changed, 31 insertions(+), 1 deletion(-)
 create mode 100644 patches/fast_lio.patch

diff --git a/Dockerfile b/Dockerfile
index 8f2efb3..29bcd29 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -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
diff --git a/patches/apply_patches.sh b/patches/apply_patches.sh
index ffc15ac..9347098 100755
--- a/patches/apply_patches.sh
+++ b/patches/apply_patches.sh
@@ -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"
diff --git a/patches/fast_lio.patch b/patches/fast_lio.patch
new file mode 100644
index 0000000..494cbc3
--- /dev/null
+++ b/patches/fast_lio.patch
@@ -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}")