Fix unilidar_sdk2 for jazzy colcon build

2026-07-17 10:05:14 +00:00
parent b3553348a0
commit b439d420df
3 changed files with 106 additions and 1 deletions
@@ -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"
@@ -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