Staging commit. Builds, deploys and wheels move.

Need to investigate lidar startup

Dockerfile

@@ -2,7 +2,9 @@ FROM ros:jazzy
 
 # Create the workspace and copy all source directories into it
 WORKDIR /ros2_ws
-COPY . /ros2_ws/src/
+COPY src ./src/
+COPY patches ./patches/
+COPY upstream.jazzy.repos ./upstream.jazzy.repos
 
 # Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
 # modifying their upstream source: generate package.xml from package_ROS2.xml so
@@ -11,15 +13,35 @@ COPY . /ros2_ws/src/
 #       cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
 #     done
 
+# Import all upstream repostories
+RUN vcs import ./src/upstream < ./upstream.jazzy.repos
+
+# Fixup the livox package for ros2 build
+RUN cd ./src/upstream/livox_ros_driver2 && \
+    rm -rf launch package.xml && \
+    ln -sfn launch_ROS2 launch && \
+    ln -sfn package_ROS2.xml package.xml
+
+# Apply patches to upstream
+# RUN ./patches/apply_patches.sh
+
 # Install dependencies with rosdep
 RUN apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
+RUN cd src/upstream/livox_sdk && \
+    mkdir -p build && \
+    cd build && rm -rf * && \
+    cmake .. -DCMAKE_BUILD_TYPE=Release && \
+    make -j && \
+    make install
+
 # 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 \
     --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
 
 # Source the overlay on container startup