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 +1,78 @@
+cmake_minimum_required(VERSION 3.5)
+project(unitree_lidar_ros2)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(PCL REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(sensor_msgs 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})
+
+add_executable(unitree_lidar_ros2_node src/unitree_lidar_ros2_node.cpp)
+
+target_link_libraries( unitree_lidar_ros2_node
+  ${Boost_SYSTEM_LIBRARY}
+  ${PCL_LIBRARIES}
+  unilidar_sdk2
+)
+
+ament_target_dependencies(
+  unitree_lidar_ros2_node
+  rclcpp std_msgs 
+  sensor_msgs
+  geometry_msgs 
+  tf2_ros
+  pcl_conversions
+)
+
+install(TARGETS
+unitree_lidar_ros2_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# install rviz file and launch file
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+install(DIRECTORY rviz/
+  DESTINATION share/${PROJECT_NAME}/rviz
+)
+
+# install config files if they exist
+if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
+  install(DIRECTORY config/
+    DESTINATION share/${PROJECT_NAME}/config
+  )
+endif()
+
+ament_package()