Patch to add symlinks to livox_ros_driver2

Dockerfile

@@ -8,27 +8,14 @@ COPY src ./src/
 COPY patches ./patches/
 COPY upstream.jazzy.repos ./upstream.jazzy.repos
 
-# Stage any dual ROS1/ROS2 packages (e.g. livox_ros_driver2) for ROS2 without
-# modifying their upstream source: generate package.xml from package_ROS2.xml so
-# colcon can discover them. The ROS2 build is selected via -DROS_EDITION below.
-# RUN for d in $(find /ros2_ws/src -type f -name package_ROS2.xml -exec dirname {} \;); do \
-#       cp -f "$d/package_ROS2.xml" "$d/package.xml"; \
-#     done
-
 # Import all upstream repostories
 RUN vcs import ./src/upstream < ./upstream.jazzy.repos
 
-# Fixup the livox package for ros2 build
+RUN cd ./src/upstream/FAST_LIO && \
-RUN cd ./src/upstream/livox_ros_driver2 && \
-    rm -rf launch package.xml && \
-    ln -sfn launch_ROS2 launch && \
-    ln -sfn package_ROS2.xml package.xml
-
-RUN cd ./src/upsstream/FAST_LIO && \
     git submodule update --init
 
 # Apply patches to upstream
-# RUN ./patches/apply_patches.sh
+RUN ./patches/apply_patches.sh
 
 # system deps from frozen rosdep manifest — no rosdep at build or startup
 # NOTE: There should be a check in your CI that this file is up to date.
@@ -61,7 +48,7 @@ RUN cd src/upstream/livox_sdk && \
 # Build the workspace with symlink install
 RUN . /opt/ros/jazzy/setup.sh && \
     colcon build --symlink-install \
-    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
+    li    --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
 
 # Source the overlay on container startup
 RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc && \

patches/apply_patches.sh

@@ -27,3 +27,4 @@ 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"
+apply_patch_once "$ROOT_DIR/src/upstream/livox_ros_driver2" "$PATCH_DIR/livox_ros_driver2.patch"

patches/livox_ros_driver2.patch

@@ -0,0 +1,16 @@
+diff --git a/launch b/launch
+new file mode 120000
+index 0000000..163fb01
+--- /dev/null
++++ b/launch
+@@ -0,0 +1 @@
++launch_ROS2
+\ No newline at end of file
+diff --git a/package.xml b/package.xml
+new file mode 120000
+index 0000000..36804a4
+--- /dev/null
++++ b/package.xml
+@@ -0,0 +1 @@
++package_ROS2.xml
+\ No newline at end of file