Staging commit. Builds, deploys and wheels move.

Need to investigate lidar startup

patches/apply_patches.sh

@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+set -u
+
+ROOT_DIR="/workspaces/agv_pro_ros2"
+PATCH_DIR="$ROOT_DIR/patches"
+
+apply_patch_once() {
+  local target_dir="$1"
+  local patch_file="$2"
+
+  if [[ ! -d "$target_dir/.git" ]]; then
+    echo "[FAIL] target repo not found: $target_dir" >&2
+    return 2
+  fi
+
+  if [[ ! -f "$patch_file" ]]; then
+    echo "[FAIL] patch not found: $patch_file" >&2
+    return 2
+  fi
+
+  git -C "$target_dir" apply --check "$patch_file" >/dev/null 2>&1 \
+    && git -C "$target_dir" apply "$patch_file" >/dev/null 2>&1 \
+    || git -C "$target_dir" apply --reverse --check "$patch_file" >/dev/null 2>&1
+}
+
+apply_patch_once "$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"

patches/livox_sdk.patch

@@ -0,0 +1,24 @@
+diff --git a/sdk_core/comm/define.h b/sdk_core/comm/define.h
+index 0872328..28d989b 100644
+--- a/sdk_core/comm/define.h
++++ b/sdk_core/comm/define.h
+@@ -31,6 +31,7 @@
+ #include <functional>
+ #include <vector>
+ #include <atomic>
++#include <cstdint>
+ 
+ #include "livox_lidar_def.h"
+ 
+diff --git a/sdk_core/logger_handler/file_manager.h b/sdk_core/logger_handler/file_manager.h
+index 242a431..14cd76a 100644
+--- a/sdk_core/logger_handler/file_manager.h
++++ b/sdk_core/logger_handler/file_manager.h
+@@ -28,6 +28,7 @@
+ #include <string>
+ #include <vector>
+ #include <map>
++#include <cstdint>
+ 
+ namespace livox {
+ namespace lidar {

patches/slam_gmapping.patch

@@ -0,0 +1,13 @@
+diff --git a/slam_gmapping/include/slam_gmapping/slam_gmapping.h b/slam_gmapping/include/slam_gmapping/slam_gmapping.h
+index 1ee2e5c..204ca85 100644
+--- a/slam_gmapping/include/slam_gmapping/slam_gmapping.h
++++ b/slam_gmapping/include/slam_gmapping/slam_gmapping.h
+@@ -35,7 +35,7 @@
+ #include "geometry_msgs/msg/pose.hpp"
+ #include "geometry_msgs/msg/pose_stamped.hpp"
+ #include "geometry_msgs/msg/transform_stamped.hpp"
+-#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
++#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+ #include "tf2_ros/transform_listener.h"
+ #include "tf2_ros/transform_broadcaster.h"
+ #include "tf2/utils.h"