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add livox ros driver2
Signed-off-by: wep21 <[email protected]>
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‎additional_recipes/ros-jazzy-livox-ros-driver2/add_package_xml.patch

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From 318d447b347d87ce2087c40dd6ad169643fc32d9 Mon Sep 17 00:00:00 2001
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From: wep21 <[email protected]>
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Date: Tue, 22 Apr 2025 21:53:53 +0900
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Subject: [PATCH] add package.xml
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Signed-off-by: wep21 <[email protected]>
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---
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package.xml | 35 +++++++++++++++++++++++++++++++++++
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1 file changed, 35 insertions(+)
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create mode 100644 package.xml
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diff --git a/package.xml b/package.xml
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new file mode 100644
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index 0000000..96f5762
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--- /dev/null
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+++ b/package.xml
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@@ -0,0 +1,35 @@
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+<?xml version="1.0"?>
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+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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+<package format="3">
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+ <name>livox_ros_driver2</name>
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+ <version>1.0.0</version>
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+ <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
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+ <maintainer email="[email protected]">feng</maintainer>
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+ <license>MIT</license>
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+
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+ <buildtool_depend>ament_cmake_auto</buildtool_depend>
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+ <build_depend>rosidl_default_generators</build_depend>
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+ <member_of_group>rosidl_interface_packages</member_of_group>
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+
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+ <depend>rclcpp</depend>
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+ <depend>rclcpp_components</depend>
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+ <depend>std_msgs</depend>
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+ <depend>sensor_msgs</depend>
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+ <depend>rcutils</depend>
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+ <depend>pcl_conversions</depend>
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+ <depend>rcl_interfaces</depend>
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+ <depend>libpcl-all-dev</depend>
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+
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+ <exec_depend>rosbag2</exec_depend>
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+ <exec_depend>rosidl_default_runtime</exec_depend>
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+
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+ <test_depend>ament_lint_auto</test_depend>
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+ <test_depend>ament_lint_common</test_depend>
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+
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+ <depend>git</depend>
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+ <depend>apr</depend>
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+
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+ <export>
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+ <build_type>ament_cmake</build_type>
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+ </export>
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+</package>
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--
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2.39.5 (Apple Git-154)
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‎additional_recipes/ros-jazzy-livox-ros-driver2/bld_ament_cmake.bat

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../../bld_ament_cmake.bat

‎additional_recipes/ros-jazzy-livox-ros-driver2/build_ament_cmake.sh

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../../build_ament_cmake.sh

‎additional_recipes/ros-jazzy-livox-ros-driver2/fix_livox_interfaces.patch

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From f7f4c8b08fc51cb087722894f48165e3c5b57eb4 Mon Sep 17 00:00:00 2001
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From: wep21 <[email protected]>
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Date: Wed, 23 Apr 2025 00:33:32 +0900
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Subject: [PATCH] fix livox interfaces target
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---
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CMakeLists.txt | 12 +++---------
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1 file changed, 3 insertions(+), 9 deletions(-)
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diff --git a/CMakeLists.txt b/CMakeLists.txt
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index 99a8ccc..ae9c928 100644
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--- a/CMakeLists.txt
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+++ b/CMakeLists.txt
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@@ -282,15 +282,9 @@ else(ROS_EDITION STREQUAL "ROS2")
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target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
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# get include directories of custom msg headers
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- if(HUMBLE_ROS STREQUAL "humble")
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- rosidl_get_typesupport_target(cpp_typesupport_target
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+ rosidl_get_typesupport_target(cpp_typesupport_target
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${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
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- target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
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- else()
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- set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
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- add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
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- get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
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- endif()
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+ target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
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# include file direcotry
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target_include_directories(${PROJECT_NAME} PUBLIC
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@@ -333,4 +327,4 @@ else(ROS_EDITION STREQUAL "ROS2")
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launch_ROS2
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)
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-endif()
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\ No newline at end of file
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+endif()
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--
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2.43.0
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‎additional_recipes/ros-jazzy-livox-ros-driver2/recipe.yaml

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package:
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name: ros-jazzy-livox-ros-driver2
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version: 1.2.4
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source:
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git: https://github.com/Livox-SDK/livox_ros_driver2.git
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tag: 1.2.4
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target_directory: ros-jazzy-livox-ros-driver2/src/work
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patches:
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- add_package_xml.patch
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- fix_livox_interfaces.patch
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build:
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script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }}
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number: 6
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post_process:
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- files:
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- '*.pc'
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regex: (?:-L|-I)?"?([^;\s]+/sysroot/)
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replacement: $$(CONDA_BUILD_SYSROOT_S)
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- files:
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- '*.cmake'
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regex: ([^;\s"]+/sysroot)
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replacement: $$ENV{CONDA_BUILD_SYSROOT}
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- files:
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- '*.cmake'
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regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk)
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replacement: $$ENV{CONDA_BUILD_SYSROOT}
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about:
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homepage: https://github.com/Livox-SDK/livox_ros_driver2
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license: MIT
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summary: |
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Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
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extra:
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recipe-maintainers:
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- ros-forge
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requirements:
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build:
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- ${{ compiler('cxx') }}
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- ${{ compiler('c') }}
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- ${{ stdlib('c') }}
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- ninja
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- python
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- setuptools
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- git
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- if: unix
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then:
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- patch
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- make
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- coreutils
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- if: win
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then:
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- m2-patch
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- if: osx
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then:
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- tapi
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- if: build_platform != target_platform
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then:
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- pkg-config
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- cmake
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- cython
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- if: build_platform != target_platform
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then:
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- python
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- cross-python_${{ target_platform }}
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- numpy
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host:
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- if: build_platform == target_platform
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then:
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- pkg-config
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- eigen
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- libboost-devel
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- livox-sdk2
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- numpy
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- pcl
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- pip
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- python
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- ros-jazzy-ament-cmake
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- ros-jazzy-ament-cmake-auto
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- ros-jazzy-ament-lint-auto
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- ros-jazzy-ament-lint-common
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- ros-jazzy-pcl-conversions
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- ros-jazzy-rclcpp
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- ros-jazzy-rclcpp-components
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- ros-jazzy-ros-environment
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- ros-jazzy-ros-workspace
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- ros-jazzy-rosidl-default-generators
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- ros-jazzy-sensor-msgs
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- ros2-distro-mutex 0.8.* jazzy_*
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- vtk-base
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- if: linux
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then:
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- libgl-devel
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- libopengl-devel
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- if: unix
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then:
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- xorg-libx11
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- xorg-libxext
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run:
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- eigen
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- libboost-devel
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- pcl
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- python
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- ros-jazzy-pcl-conversions
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- ros-jazzy-rclcpp
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- ros-jazzy-rclcpp-components
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- ros-jazzy-ros-workspace
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- ros-jazzy-sensor-msgs
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- ros2-distro-mutex 0.8.* jazzy_*
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- vtk-base
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- if: osx and x86_64
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then:
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- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
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- if: unix
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then:
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- xorg-libx11
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- xorg-libxext

‎pixi.toml

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@@ -34,7 +34,7 @@ vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "cbb8eba834ce3834
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[feature.beta.tasks]
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generate-recipes = { cmd = "vinca -m", depends-on = ["rename-file"] }
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remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" }
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build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing" }
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build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing -c robostack-jazzy -c https://repo.prefix.dev/conda-forge" }
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build = { cmd = "rattler-build build --recipe-dir ./recipes -m ./conda_build_config.yaml -c robostack-jazzy -c https://repo.prefix.dev/conda-forge --skip-existing", depends-on = ["build_additional_recipes", "generate-recipes"] }
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build_one_package = { cmd = "cp ./patch/$PACKAGE.*patch ./recipes/$PACKAGE/patch/; rattler-build build --recipe ./recipes/$PACKAGE/recipe.yaml -m ./conda_build_config.yaml -c robostack-jazzy -c https://repo.prefix.dev/conda-forge", env = { PACKAGE = "ros-jazzy-ros-workspace" } }
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create_snapshot = { cmd = "vinca-snapshot -d jazzy -o rosdistro_snapshot.yaml" }

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