Fix patch application in container.

For both  devcontainer and deployable container.
Also add ability to use docker from inside the devcontainer.

.devcontainer/jazzy/Dockerfile.jazzy

@@ -2,6 +2,7 @@ FROM osrf/ros:jazzy-desktop-full
 ARG USERNAME=USERNAME
 ARG USER_UID=1000
 ARG USER_GID=$USER_UID
+ARG TARGETARCH
 
 # Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
 RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi
@@ -47,13 +48,18 @@ RUN apt-get update \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
-# Optional: pre-install apt dependencies resolved from rosdep on a previous run.
+# system deps from frozen rosdep manifest — no rosdep at build or startup
-COPY .devcontainer/jazzy/ /tmp/devcontainer-jazzy/
+# NOTE: There should be a check in your CI that this file is up to date.
-
+# Something like: 
-RUN apt-get update \
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
-    && if [ -f /tmp/devcontainer-jazzy/rosdep-apt-packages.txt ]; then \
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
-    grep -Ev '^\s*($|#)' /tmp/devcontainer-jazzy/rosdep-apt-packages.txt | xargs -r apt-get install -y --no-install-recommends; \
+# The --mount=type=cache option caches the apt packages with buildkit
-    fi \
+# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
+# this enables parallel builds for different architectures without cache conflicts
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean \
+    && apt-get update \
+    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 RUN apt-get update \
@@ -61,13 +67,6 @@ RUN apt-get update \
     ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
     && rm -rf /var/lib/apt/lists/*
 
-# ROS 2 ament build tools
-# RUN apt-get install -y \
-#     ros-${ROS_DISTRO}-ament-cmake \
-#     ros-${ROS_DISTRO}-ament-cmake-auto \
-#     ros-${ROS_DISTRO}-ament-python \
-#     ros-${ROS_DISTRO}-ament-lint-auto \
-#     ros-${ROS_DISTRO}-ament-lint-common
 
 ENV SHELL=/bin/bash
 

.devcontainer/jazzy/devcontainer-lock.json

@@ -0,0 +1,9 @@
+{
+  "features": {
+    "ghcr.io/devcontainers/features/docker-from-docker:1": {
+      "version": "1.10.0",
+      "resolved": "ghcr.io/devcontainers/features/docker-from-docker@sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e",
+      "integrity": "sha256:c2c2cf829505ead8e4892c88c31b6594ae94a2bbb209e16e1fac456c1a3a624e"
+    }
+  }
+}

.devcontainer/jazzy/devcontainer.json

@@ -10,6 +10,12 @@
         }
     },
     "workspaceFolder": "/workspaces/agv_pro_ros2",
+    "features": {
+        "ghcr.io/devcontainers/features/docker-from-docker:1": {
+            "version": "latest",
+            "moby": true
+        }
+    },
     "customizations": {
         "vscode": {
             "extensions": [

Dockerfile

@@ -2,46 +2,43 @@ FROM ros:jazzy
 
 # Create the workspace and copy all source directories into it
 WORKDIR /ros2_ws
+ARG TARGETARCH
+
 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
+RUN mkdir -p src/upstream && vcs import ./src/upstream < ./upstream.jazzy.repos
-
-# Fixup the livox package for ros2 build
-RUN cd ./src/upstream/livox_ros_driver2 && \
-    rm -rf launch package.xml && \
-    ln -sfn launch_ROS2 launch && \
-    ln -sfn package_ROS2.xml package.xml
 
 # 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.
+# Something like: 
+#   ./scripts/freeze-rosdep.sh && git diff --exit-code rosdep-packages.txt
+COPY rosdep-packages.txt /tmp/rosdep-packages.txt
+# The --mount=type=cache option caches the apt packages with buildkit
+# The id-apt-cache-${TARGETARCH} option allows for separate caches for different architectures
+# this enables parallel builds for different architectures without cache conflicts
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked,id=apt-cache-${TARGETARCH} \
+    rm -f /etc/apt/apt.conf.d/docker-clean \
+    && apt-get update \
+    && xargs -r -a /tmp/rosdep-packages.txt apt-get install -y --no-install-recommends \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install dependencies with rosdep
+# This will catch anything that wasn't installed via .deb's from the frozen rosdep manifest.
 RUN apt-get update && \
     rosdep update && \
     rosdep install --from-paths src --ignore-src -r -y && \
     rm -rf /var/lib/apt/lists/*
 
-RUN cd src/upstream/livox_sdk && \
-    mkdir -p build && \
-    cd build && rm -rf * && \
-    cmake .. -DCMAKE_BUILD_TYPE=Release && \
-    make -j && \
-    make install
-
 # Build the workspace with symlink install
+# livox_sdk is now an ament_cmake package built by colcon (no manual /usr/local install needed).
 RUN . /opt/ros/jazzy/setup.sh && \
     colcon build --symlink-install \
-    --packages-ignore unitree_lidar_ros2 unitree_lidar_ros unitree_lidar_sdk fast_lio \
     --cmake-args -DROS_EDITION=ROS2 -DDISTRO_ROS=jazzy
 
 # Source the overlay on container startup

patches/apply_patches.sh

@@ -1,7 +1,8 @@
 #!/usr/bin/env bash
 set -u
 
-ROOT_DIR="/workspaces/agv_pro_ros2"
+PATCH_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROOT_DIR="$(dirname "$PATCH_DIR")"
 PATCH_DIR="$ROOT_DIR/patches"
 
 apply_patch_once() {
@@ -23,5 +24,8 @@ apply_patch_once() {
     || git -C "$target_dir" apply --reverse --check "$patch_file" >/dev/null 2>&1
 }
 
+apply_patch_once "$ROOT_DIR/src/upstream/FAST_LIO" "$PATCH_DIR/fast_lio.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/livox_sdk" "$PATCH_DIR/livox_sdk.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/livox_ros_driver2" "$PATCH_DIR/livox_ros_driver2.patch"
 apply_patch_once "$ROOT_DIR/src/upstream/slam_gmapping" "$PATCH_DIR/slam_gmapping.patch"
+apply_patch_once "$ROOT_DIR/src/upstream/unilidar_sdk2" "$PATCH_DIR/unilidar_sdk2.patch"

patches/fast_lio.patch

@@ -0,0 +1,49 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index be3040b..3176847 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,17 +5,39 @@ if(NOT CMAKE_BUILD_TYPE)
+   set(CMAKE_BUILD_TYPE Release)
+ endif()
+ 
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-ADD_COMPILE_OPTIONS(-std=c++14)
+-set(CMAKE_CXX_FLAGS "-std=c++14 -O3")
++# Ensure the bundled ikd-Tree submodule (include/ikd-Tree/ikd_Tree.cpp) is present.
++# Auto-initialize it when building from a git checkout; otherwise fail with guidance.
++if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++  find_package(Git QUIET)
++  if(GIT_FOUND AND EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/.git")
++    message(STATUS "fast_lio: initializing git submodule include/ikd-Tree")
++    execute_process(
++      COMMAND ${GIT_EXECUTABLE} submodule update --init --recursive
++      WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
++      RESULT_VARIABLE GIT_SUBMOD_RESULT)
++    if(NOT GIT_SUBMOD_RESULT EQUAL "0")
++      message(FATAL_ERROR
++        "git submodule update --init failed with ${GIT_SUBMOD_RESULT}. "
++        "Run it manually in ${CMAKE_CURRENT_SOURCE_DIR}.")
++    endif()
++  endif()
++  if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/include/ikd-Tree/ikd_Tree.cpp")
++    message(FATAL_ERROR
++      "include/ikd-Tree/ikd_Tree.cpp is missing and could not be fetched automatically "
++      "(no git checkout available). Run: git submodule update --init --recursive")
++  endif()
++endif()
++
++ADD_COMPILE_OPTIONS(-std=c++17)
++set(CMAKE_CXX_FLAGS "-std=c++17 -O3")
+ 
+ add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
+ 
+ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions")
+-set(CMAKE_CXX_STANDARD 14)
++set(CMAKE_CXX_STANDARD 17)
+ set(CMAKE_CXX_STANDARD_REQUIRED ON)
+ set(CMAKE_CXX_EXTENSIONS OFF)
+-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -pthread -std=c++0x -std=c++14 -fexceptions")
++set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -fexceptions")
+ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+ 
+ message("Current CPU archtecture: ${CMAKE_SYSTEM_PROCESSOR}")

patches/livox_ros_driver2.patch

@@ -0,0 +1,28 @@
+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
+diff --git a/package_ROS2.xml b/package_ROS2.xml
+index 96f5762..c66785b 100644
+--- a/package_ROS2.xml
++++ b/package_ROS2.xml
+@@ -28,6 +28,7 @@
+ 
+   <depend>git</depend>
+   <depend>apr</depend>
++  <depend>livox_sdk2</depend>
+ 
+   <export>
+     <build_type>ament_cmake</build_type>

patches/livox_sdk.patch

@@ -1,3 +1,28 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 05f84c5..4fb6f31 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -1,7 +1,9 @@
+-cmake_minimum_required(VERSION 3.0)
++cmake_minimum_required(VERSION 3.5)
+ 
+ project(livox_sdk2)
+ 
++find_package(ament_cmake REQUIRED)
++
+ set(CMAKE_CXX_STANDARD 11)
+ 
+ message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
+@@ -18,3 +20,9 @@ endif(UNIX)
+ 
+ add_subdirectory(sdk_core)
+ add_subdirectory(samples)
++
++# Export the installed headers/libraries so ament packages (e.g. livox_ros_driver2)
++# find the SDK from the colcon install space via CMAKE_PREFIX_PATH.
++ament_export_include_directories(include)
++ament_export_libraries(livox_lidar_sdk_shared)
++ament_package()
 diff --git a/sdk_core/comm/define.h b/sdk_core/comm/define.h
 index 0872328..28d989b 100644
 --- a/sdk_core/comm/define.h

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

rosdep-packages.txt

@@ -0,0 +1,73 @@
+git
+libapr1-dev libaprutil1-dev
+libboost-all-dev
+libpcap0.8-dev
+libpcl-apps1.14 libpcl-common1.14 libpcl-features1.14 libpcl-filters1.14 libpcl-io1.14 libpcl-kdtree1.14 libpcl-keypoints1.14 libpcl-ml1.14 libpcl-octree1.14 libpcl-outofcore1.14 libpcl-people1.14 libpcl-recognition1.14 libpcl-registration1.14 libpcl-sample-consensus1.14 libpcl-search1.14 libpcl-segmentation1.14 libpcl-stereo1.14 libpcl-surface1.14 libpcl-tracking1.14 libpcl-visualization1.14
+libpcl-dev
+libqt5core5t64
+libqt5gui5t64
+libqt5opengl5t64
+libqt5widgets5t64
+python3-pytest
+qtbase5-dev
+ros-jazzy-ament-cmake
+ros-jazzy-ament-cmake-auto
+ros-jazzy-ament-cmake-black
+ros-jazzy-ament-cmake-clang-format
+ros-jazzy-ament-cmake-clang-tidy
+ros-jazzy-ament-cmake-copyright
+ros-jazzy-ament-cmake-xmllint
+ros-jazzy-ament-copyright
+ros-jazzy-ament-flake8
+ros-jazzy-ament-index-cpp
+ros-jazzy-ament-lint-auto
+ros-jazzy-ament-lint-common
+ros-jazzy-ament-pep257
+ros-jazzy-asio-cmake-module
+ros-jazzy-builtin-interfaces
+ros-jazzy-cartographer-ros
+ros-jazzy-common-interfaces
+ros-jazzy-controller-manager
+ros-jazzy-diff-drive-controller
+ros-jazzy-geometry-msgs
+ros-jazzy-io-context
+ros-jazzy-joint-state-broadcaster
+ros-jazzy-joint-state-publisher
+ros-jazzy-message-filters
+ros-jazzy-nav-msgs
+ros-jazzy-nav2-bringup
+ros-jazzy-nav2-simple-commander
+ros-jazzy-orbbec-camera
+ros-jazzy-pcl-conversions
+ros-jazzy-pcl-ros
+ros-jazzy-pluginlib
+ros-jazzy-rcl-interfaces
+ros-jazzy-rclcpp
+ros-jazzy-rclcpp-components
+ros-jazzy-rclpy
+ros-jazzy-rcutils
+ros-jazzy-resource-retriever
+ros-jazzy-robot-state-publisher
+ros-jazzy-ros2-control
+ros-jazzy-rosbag2
+ros-jazzy-rosidl-default-generators
+ros-jazzy-rosidl-default-runtime
+ros-jazzy-rtabmap-demos
+ros-jazzy-rtabmap-slam
+ros-jazzy-rtabmap-sync
+ros-jazzy-rtabmap-util
+ros-jazzy-rtabmap-viz
+ros-jazzy-rviz-common
+ros-jazzy-rviz-default-plugins
+ros-jazzy-rviz-ogre-vendor
+ros-jazzy-rviz-rendering
+ros-jazzy-rviz2
+ros-jazzy-sensor-msgs
+ros-jazzy-serial-driver
+ros-jazzy-std-msgs
+ros-jazzy-teleop-twist-keyboard
+ros-jazzy-tf2
+ros-jazzy-tf2-geometry-msgs
+ros-jazzy-tf2-ros
+ros-jazzy-visualization-msgs
+ros-jazzy-xacro

scripts/freeze-rosdep.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -euo pipefail
+ROS_DISTRO="${ROS_DISTRO:-jazzy}"
+rosdep update --rosdistro "$ROS_DISTRO" >/dev/null 2>&1 || true
+rosdep keys --from-paths src --ignore-src --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | xargs rosdep resolve --rosdistro "$ROS_DISTRO" 2>/dev/null \
+  | awk '/^#apt/{a=1;next} /^#/{a=0} a' | sort -u > rosdep-packages.txt