Fix patch application in container.

Dockerfile

@@ -8,24 +8,11 @@ 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.
@@ -48,17 +35,10 @@ RUN apt-get 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