feat(agv_pro_bringup): add multi-lidar support and drivers

2026-01-13 19:12:09 +08:00
parent b50a0c4496
commit dcb52622eb
99 changed files with 26335 additions and 39 deletions
@@ -0,0 +1,40 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_ROS_DRIVER2_INClUDE_H_
+#define LIVOX_ROS_DRIVER2_INClUDE_H_
+
+#define LIVOX_ROS_DRIVER2_VER_MAJOR 1
+#define LIVOX_ROS_DRIVER2_VER_MINOR 2
+#define LIVOX_ROS_DRIVER2_VER_PATCH 4
+
+#define GET_STRING(n) GET_STRING_DIRECT(n)
+#define GET_STRING_DIRECT(n) #n
+
+#define LIVOX_ROS_DRIVER2_VERSION_STRING                      \
+  GET_STRING(LIVOX_ROS_DRIVER2_VER_MAJOR)                     \
+  "." GET_STRING(LIVOX_ROS_DRIVER2_VER_MINOR) "." GET_STRING( \
+      LIVOX_ROS_DRIVER2_VER_PATCH)
+
+#endif  // LIVOX_ROS_DRIVER2_INClUDE_H_
@@ -0,0 +1,54 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+// Denoting headers specifically used for building ROS1 Driver.
+
+#ifndef ROS1_HEADERS_H_
+#define ROS1_HEADERS_H_
+
+#include <thread>
+#include <future>
+
+#include <ros/ros.h>
+#include <rosbag/bag.h>
+#include <pcl_ros/point_cloud.h>
+#include <sensor_msgs/Imu.h>
+#include <sensor_msgs/PointCloud2.h>
+#include "livox_ros_driver2/CustomMsg.h"
+#include "livox_ros_driver2/CustomPoint.h"
+
+
+#define DRIVER_DEBUG(node, ...) ROS_DEBUG(__VA_ARGS__)
+#define DRIVER_INFO(node, ...) ROS_INFO(__VA_ARGS__)
+#define DRIVER_WARN(node, ...) ROS_WARN(__VA_ARGS__)
+#define DRIVER_ERROR(node, ...) ROS_ERROR(__VA_ARGS__)
+#define DRIVER_FATAL(node, ...) ROS_FATAL(__VA_ARGS__)
+
+#define DRIVER_DEBUG_EXTRA(node, EXTRA, ...) ROS_DEBUG_##EXTRA(__VA_ARGS__)
+#define DRIVER_INFO_EXTRA(node, EXTRA, ...) ROS_INFO_##EXTRA(__VA_ARGS__)
+#define DRIVER_WARN_EXTRA(node, EXTRA, ...) ROS_WARN_##EXTRA(__VA_ARGS__)
+#define DRIVER_ERROR_EXTRA(node, EXTRA, ...) ROS_ERROR_##EXTRA(__VA_ARGS__)
+#define DRIVER_FATAL_EXTRA(node, EXTRA, ...) ROS_FATAL_##EXTRA(__VA_ARGS__)
+
+#endif // ROS1_HEADERS_H_
@@ -0,0 +1,52 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+// Denoting headers specifically used for building ROS1 Driver.
+
+#ifndef ROS2_HEADERS_H_
+#define ROS2_HEADERS_H_
+
+#include <thread>
+#include <future>
+
+#include <rclcpp/rclcpp.hpp>
+#include <pcl_conversions/pcl_conversions.h>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include "livox_ros_driver2/msg/custom_point.hpp"
+#include "livox_ros_driver2/msg/custom_msg.hpp"
+
+#define DRIVER_DEBUG(node, ...) RCLCPP_DEBUG((node).get_logger(), __VA_ARGS__)
+#define DRIVER_INFO(node, ...) RCLCPP_INFO((node).get_logger(), __VA_ARGS__)
+#define DRIVER_WARN(node, ...) RCLCPP_WARN((node).get_logger(), __VA_ARGS__)
+#define DRIVER_ERROR(node, ...) RCLCPP_ERROR((node).get_logger(), __VA_ARGS__)
+#define DRIVER_FATAL(node, ...) RCLCPP_FATAL((node).get_logger(), __VA_ARGS__)
+
+#define DRIVER_DEBUG_EXTRA(node, EXTRA, ...) RCLCPP_DEBUG_##EXTRA((node).get_logger(), __VA_ARGS__)
+#define DRIVER_INFO_EXTRA(node, EXTRA, ...) RCLCPP_INFO_##EXTRA((node).get_logger(), __VA_ARGS__)
+#define DRIVER_WARN_EXTRA(node, EXTRA, ...) RCLCPP_WARN_##EXTRA((node).get_logger(), __VA_ARGS__)
+#define DRIVER_ERROR_EXTRA(node, EXTRA, ...) RCLCPP_ERROR_##EXTRA((node).get_logger(), __VA_ARGS__)
+#define DRIVER_FATAL_EXTRA(node, EXTRA, ...) RCLCPP_FATAL_##EXTRA((node).get_logger(), __VA_ARGS__)
+
+#endif // ROS2_HEADERS_H_
@@ -0,0 +1,34 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef ROS_HEADERS_H_
+#define ROS_HEADERS_H_
+
+#ifdef BUILDING_ROS1
+#include "ros1_headers.h"
+#elif defined BUILDING_ROS2
+#include "ros2_headers.h"
+#endif
+
+#endif // ROS_HEADERS_H_