feat: add livox ros driver2

.github/workflows/testpr.yml

@@ -13,14 +13,21 @@ jobs:
         include:
           - os: ubuntu-latest
             platform: linux-64
+            additional_recipes:
+              - "ros-jazzy-livox-ros-driver2"
           - os: ubuntu-24.04-arm
             platform: linux-aarch64
+            additional_recipes: 
+              - "ros-jazzy-livox-ros-driver2"
           - os: macos-13
             platform: osx-64
+            additional_recipes: []
           - os: macos-14
             platform: osx-arm64
+            additional_recipes: []
           - os: windows-2019
             platform: win-64
+            additional_recipes: []
 
     runs-on: ${{ matrix.os }}
 
@@ -105,6 +112,10 @@ jobs:
         mkdir -p recipes
         $HOME/.pixi/bin/pixi run -e beta -v vinca --platform win-64 -m -n
         ls -la recipes
+    - name: Copy additional recipes which have been changed into recipes
+      shell: bash -l {0}
+      run: |
+        echo '${{ toJson(matrix.additional_recipes) }}' | jq -r ".[]" | xargs -I@ cp -r additional_recipes/@ recipes/
     - name: Check if there are packages to be built
       id: newrecipecheck
       shell: bash -l {0}

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

@@ -0,0 +1,55 @@
+From 318d447b347d87ce2087c40dd6ad169643fc32d9 Mon Sep 17 00:00:00 2001
+From: wep21 <[email protected]>
+Date: Tue, 22 Apr 2025 21:53:53 +0900
+Subject: [PATCH] add package.xml
+
+Signed-off-by: wep21 <[email protected]>
+---
+ package.xml | 35 +++++++++++++++++++++++++++++++++++
+ 1 file changed, 35 insertions(+)
+ create mode 100644 package.xml
+
+diff --git a/package.xml b/package.xml
+new file mode 100644
+index 0000000..96f5762
+--- /dev/null
++++ b/package.xml
+@@ -0,0 +1,35 @@
++<?xml version="1.0"?>
++<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
++<package format="3">
++  <name>livox_ros_driver2</name>
++  <version>1.0.0</version>
++  <description>The ROS device driver for Livox 3D LiDARs, for ROS2</description>
++  <maintainer email="[email protected]">feng</maintainer>
++  <license>MIT</license>
++
++  <buildtool_depend>ament_cmake_auto</buildtool_depend>
++  <build_depend>rosidl_default_generators</build_depend>
++  <member_of_group>rosidl_interface_packages</member_of_group>
++
++  <depend>rclcpp</depend>
++  <depend>rclcpp_components</depend>
++  <depend>std_msgs</depend>
++  <depend>sensor_msgs</depend>
++  <depend>rcutils</depend>
++  <depend>pcl_conversions</depend>
++  <depend>rcl_interfaces</depend>
++  <depend>libpcl-all-dev</depend>
++
++  <exec_depend>rosbag2</exec_depend>
++  <exec_depend>rosidl_default_runtime</exec_depend>
++
++  <test_depend>ament_lint_auto</test_depend>
++  <test_depend>ament_lint_common</test_depend>
++
++  <depend>git</depend>
++  <depend>apr</depend>
++
++  <export>
++    <build_type>ament_cmake</build_type>
++  </export>
++</package>
+-- 
+2.39.5 (Apple Git-154)
+

additional_recipes/ros-jazzy-livox-ros-driver2/bld_ament_cmake.bat

@@ -0,0 +1 @@
+../../bld_ament_cmake.bat

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

@@ -0,0 +1 @@
+../../build_ament_cmake.sh

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

@@ -0,0 +1,41 @@
+From f7f4c8b08fc51cb087722894f48165e3c5b57eb4 Mon Sep 17 00:00:00 2001
+From: wep21 <[email protected]>
+Date: Wed, 23 Apr 2025 00:33:32 +0900
+Subject: [PATCH] fix livox interfaces target
+
+---
+ CMakeLists.txt | 12 +++---------
+ 1 file changed, 3 insertions(+), 9 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 99a8ccc..ae9c928 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -282,15 +282,9 @@ else(ROS_EDITION STREQUAL "ROS2")
+   target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
+
+   # get include directories of custom msg headers
+-  if(HUMBLE_ROS STREQUAL "humble")
+-    rosidl_get_typesupport_target(cpp_typesupport_target
++  rosidl_get_typesupport_target(cpp_typesupport_target
+     ${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
+-    target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
+-  else()
+-    set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
+-    add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
+-    get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
+-  endif()
++  target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
+
+   # include file direcotry
+   target_include_directories(${PROJECT_NAME} PUBLIC
+@@ -333,4 +327,4 @@ else(ROS_EDITION STREQUAL "ROS2")
+     launch_ROS2
+   )
+
+-endif()
+\ No newline at end of file
++endif()
+-- 
+2.43.0
+

additional_recipes/ros-jazzy-livox-ros-driver2/recipe.yaml

@@ -0,0 +1,120 @@
+package:
+  name: ros-jazzy-livox-ros-driver2
+  version: 1.2.4
+
+source:
+  git: https://github.com/Livox-SDK/livox_ros_driver2.git
+  tag: 1.2.4
+  target_directory: ros-jazzy-livox-ros-driver2/src/work
+  patches:
+    - add_package_xml.patch
+    - fix_livox_interfaces.patch
+
+build:
+  script: ${{ '$RECIPE_DIR/build_ament_cmake.sh' if unix else '%RECIPE_DIR%\\bld_ament_cmake.bat' }}
+  number: 6
+  post_process:
+    - files:
+        - '*.pc'
+      regex: (?:-L|-I)?"?([^;\s]+/sysroot/)
+      replacement: $$(CONDA_BUILD_SYSROOT_S)
+    - files:
+        - '*.cmake'
+      regex: ([^;\s"]+/sysroot)
+      replacement: $$ENV{CONDA_BUILD_SYSROOT}
+    - files:
+        - '*.cmake'
+      regex: ([^;\s"]+/MacOSX\d*\.?\d*\.sdk)
+      replacement: $$ENV{CONDA_BUILD_SYSROOT}
+
+about:
+  homepage: https://github.com/Livox-SDK/livox_ros_driver2
+  license: MIT
+  summary: |
+    Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - ${{ compiler('cxx') }}
+    - ${{ compiler('c') }}
+    - ${{ stdlib('c') }}
+    - ninja
+    - python
+    - setuptools
+    - git
+    - if: unix
+      then:
+        - patch
+        - make
+        - coreutils
+    - if: win
+      then:
+        - m2-patch
+    - if: osx
+      then:
+        - tapi
+    - if: build_platform != target_platform
+      then:
+        - pkg-config
+    - cmake
+    - cython
+    - if: build_platform != target_platform
+      then:
+        - python
+        - cross-python_${{ target_platform }}
+        - numpy
+  host:
+    - if: build_platform == target_platform
+      then:
+        - pkg-config
+    - eigen
+    - libboost-devel
+    - livox-sdk2
+    - numpy
+    - pcl
+    - pip
+    - python
+    - ros-jazzy-ament-cmake
+    - ros-jazzy-ament-cmake-auto
+    - ros-jazzy-ament-lint-auto
+    - ros-jazzy-ament-lint-common
+    - ros-jazzy-pcl-conversions
+    - ros-jazzy-rclcpp
+    - ros-jazzy-rclcpp-components
+    - ros-jazzy-ros-environment
+    - ros-jazzy-ros-workspace
+    - ros-jazzy-rosidl-default-generators
+    - ros-jazzy-sensor-msgs
+    - ros2-distro-mutex 0.8.* jazzy_*
+    - vtk-base
+    - if: linux
+      then:
+        - libgl-devel
+        - libopengl-devel
+    - if: unix
+      then:
+        - xorg-libx11
+        - xorg-libxext
+  run:
+    - eigen
+    - libboost-devel
+    - pcl
+    - python
+    - ros-jazzy-pcl-conversions
+    - ros-jazzy-rclcpp
+    - ros-jazzy-rclcpp-components
+    - ros-jazzy-ros-workspace
+    - ros-jazzy-sensor-msgs
+    - ros2-distro-mutex 0.8.* jazzy_*
+    - vtk-base
+    - if: osx and x86_64
+      then:
+        - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
+    - if: unix
+      then:
+        - xorg-libx11
+        - xorg-libxext

pixi.toml

@@ -34,7 +34,7 @@ vinca = { git ="https://github.com/RoboStack/vinca.git", rev = "cbb8eba834ce3834
 [feature.beta.tasks]
 generate-recipes = { cmd = "vinca -m", depends-on = ["rename-file"] }
 remove-file = { cmd = "rm vinca.yaml; rm -rf recipes" }
-build_additional_recipes = { cmd = "rattler-build build --recipe-dir ./additional_recipes -m ./conda_build_config.yaml --skip-existing" }
+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" }
 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"] }
 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" } }
 create_snapshot = { cmd = "vinca-snapshot -d jazzy -o rosdistro_snapshot.yaml" }