From aae2455b68655ba50ac29f0cc221cc864404fb6f Mon Sep 17 00:00:00 2001
From: Matt Spencer <Matthew.Spencer@amd.com>
Date: Fri, 17 Jul 2026 10:05:14 +0000
Subject: [PATCH] Fix unilidar_sdk2 for jazzy colcon build

---
 Dockerfile                  |   1 -
 patches/apply_patches.sh    |   1 +
 patches/unilidar_sdk2.patch | 105 ++++++++++++++++++++++++++++++++++++
 3 files changed, 106 insertions(+), 1 deletion(-)
 create mode 100644 patches/unilidar_sdk2.patch

diff --git a/Dockerfile b/Dockerfile
index 29bcd29..a030010 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -61,7 +61,6 @@ 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 \
     --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 9347098..7063509 100755
--- a/patches/apply_patches.sh
+++ b/patches/apply_patches.sh
@@ -26,3 +26,4 @@ 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"
+apply_patch_once "$ROOT_DIR/src/upstream/unilidar_sdk2" "$PATCH_DIR/unilidar_sdk2.patch"
diff --git a/patches/unilidar_sdk2.patch b/patches/unilidar_sdk2.patch
new file mode 100644
index 0000000..e57c358
--- /dev/null
+++ b/patches/unilidar_sdk2.patch
@@ -0,0 +1,105 @@
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+index 041ef0d..dd57d47 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
++++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/CMakeLists.txt
+@@ -23,16 +23,15 @@ find_package(pcl_conversions REQUIRED)
+ find_package(PCL REQUIRED)
+ find_package(tf2_ros REQUIRED)
+ find_package(sensor_msgs REQUIRED)
++find_package(unitree_lidar_sdk REQUIRED)
+ 
+ include_directories(
+   ${PCL_INCLUDE_DIRS} 
+   include
+-  ../../../unitree_lidar_sdk/include
+ )
+ 
+ link_directories(
+   ${PCL_LIBRARY_DIRS}
+-  ../../../unitree_lidar_sdk/lib/${CMAKE_SYSTEM_PROCESSOR}
+ )
+ 
+ add_definitions(${PCL_DEFINITIONS})
+@@ -42,7 +41,6 @@ add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
+ target_link_libraries( unitree_lidar_ros2_node
+   ${Boost_SYSTEM_LIBRARY}
+   ${PCL_LIBRARIES}
+-  libunilidar_sdk2.a
+ )
+ 
+ ament_target_dependencies(
+@@ -52,6 +50,7 @@ ament_target_dependencies(
+   geometry_msgs 
+   tf2_ros
+   pcl_conversions
++  unitree_lidar_sdk
+ )
+ 
+ install(TARGETS
+diff --git a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+index 74539aa..b5febb2 100644
+--- a/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
++++ b/unitree_lidar_ros2/src/unitree_lidar_ros2/package.xml
+@@ -21,6 +21,7 @@
+ 
+   <depend>geometry_msgs</depend>
+   <depend>tf2_ros</depend>
++  <depend>unitree_lidar_sdk</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>
+diff --git a/unitree_lidar_sdk/CMakeLists.txt b/unitree_lidar_sdk/CMakeLists.txt
+index 80af9c9..0d9a334 100644
+--- a/unitree_lidar_sdk/CMakeLists.txt
++++ b/unitree_lidar_sdk/CMakeLists.txt
+@@ -1,39 +1,14 @@
+-cmake_minimum_required(VERSION 3.0)
++cmake_minimum_required(VERSION 3.5)
+ project(unitree_lidar_sdk)
+ 
+-set(CMAKE_BUILD_TYPE "Release")
+-set(CMAKE_CXX_FLAGS "-std=c++17")
+-set(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g2 -ggdb")
+-set(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall -DNDEBUG") 
++find_package(ament_cmake REQUIRED)
+ 
+-include_directories(include)
++# Install the SDK headers and the architecture-specific prebuilt static library.
++install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
++install(FILES lib/${CMAKE_SYSTEM_PROCESSOR}/libunilidar_sdk2.a DESTINATION lib)
+ 
+-link_directories(lib/${CMAKE_SYSTEM_PROCESSOR})
++# Export them so ament packages can consume the SDK via find_package().
++ament_export_include_directories(include/${PROJECT_NAME})
++ament_export_libraries(unilidar_sdk2)
+ 
+-SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+-set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib/${CMAKE_SYSTEM_PROCESSOR})
+-
+-add_executable(example_lidar_udp
+-  examples/example_lidar_udp.cpp
+-)
+-target_link_libraries(example_lidar_udp  libunilidar_sdk2.a )
+-
+-add_executable(example_lidar_serial
+-    examples/example_lidar_serial.cpp
+-)
+-target_link_libraries(example_lidar_serial  libunilidar_sdk2.a  )
+-
+-add_executable(set_ip_address
+-    examples/set_ip_address.cpp
+-)
+-target_link_libraries(set_ip_address  libunilidar_sdk2.a )
+-
+-add_executable(set_to_serial_mode
+-    examples/set_to_serial_mode.cpp
+-)
+-target_link_libraries(set_to_serial_mode  libunilidar_sdk2.a )
+-
+-add_executable(set_to_udp_mode
+-    examples/set_to_udp_mode.cpp
+-)
+-target_link_libraries(set_to_udp_mode  libunilidar_sdk2.a )
+\ No newline at end of file
++ament_package()
+\ No newline at end of file