Mid360 lidar service is added

Makefile

@@ -37,6 +37,9 @@ realsense:
 hesai:
 	@cd deploy && docker build --no-cache --tag go2py_hesai:latest -f docker/Dockerfile.hesai .
 
+mid360:
+	@cd deploy && docker build --no-cache --tag go2py_mid360:latest -f docker/Dockerfile.mid360 .
+
 bridge:
 	@cd deploy && docker build --no-cache --tag go2py_bridge:latest -f docker/Dockerfile.bridge .
 
@@ -54,6 +57,11 @@ hesai_install:
 	@systemctl enable go2py-hesai.service
 	@systemctl start go2py-hesai.service
 
+mid360_install:
+	@cp deploy/services/go2py-mid360.service /etc/systemd/system/
+	@systemctl enable go2py-mid360.service
+	@systemctl start go2py-mid360.service
+
 bridge_install:
 	@cp deploy/services/go2py-bridge.service /etc/systemd/system/
 	@systemctl enable go2py-bridge.service
@@ -74,6 +82,11 @@ hesai_uninstall:
 	@systemctl stop go2py-hesai.service
 	@rm /etc/systemd/system/go2py-hesai.service
 
+mid360_uninstall:
+	@systemctl disable go2py-mid360.service
+	@systemctl stop go2py-mid360.service
+	@rm /etc/systemd/system/go2py-mid360.service
+
 bridge_uninstall:
 	@systemctl disable go2py-bridge.service
 	@systemctl stop go2py-bridge.service

deploy/docker/Dockerfile.mid360

@@ -0,0 +1,34 @@
+# FROM isaac_ros_dev-aarch64
+FROM ros:humble
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+# uodate and install dependencies 
+RUN apt-get update && apt-get install -y \
+    ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+    # ros-humble-realsense2-camera \
+    ros-humble-pointcloud-to-laserscan \
+    libyaml-cpp-dev \
+    libboost-all-dev\
+    build-essential \
+    cmake \
+    git \
+    ros-humble-pcl-ros \
+    && rm -rf /var/lib/apt/lists/*
+
+# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+RUN cd / && git clone https://github.com/unitreerobotics/unitree_ros2 && cd /unitree_ros2/cyclonedds_ws/src && \
+git clone https://github.com/ros2/rmw_cyclonedds -b humble && git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x &&\
+cd .. && colcon build --packages-select cyclonedds && source /opt/ros/humble/setup.bash && colcon build
+
+RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
+RUN cd /root && git clone git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2
+
+COPY docker/scripts/MID360_config.json /root/ws_livox/src/livox_ros_driver2/config/MID360_config.json
+COPY launch_files/msg_MID360_launch.py /root/ws_livox/src/livox_ros_driver2/launch_ROS2/msg_MID360_launch.py
+RUN cd /root/ws_livox/src/livox_ros_driver2 &&  && source /opt/ros/humble/setup.sh && ./build.sh humble
+
+# Copy the script to start the nodes
+COPY docker/scripts/mid360_start.sh /root/mid360_start.sh
+# set the entrypoint to bash
+# ENTRYPOINT ["/bin/bash"]
+ENTRYPOINT ["/bin/bash", "/root/mid360_start.sh"]

deploy/docker/scripts/MID360_config.json

@@ -0,0 +1,41 @@
+{
+  "lidar_summary_info" : {
+    "lidar_type": 8
+  },
+  "MID360": {
+    "lidar_net_info" : {
+      "cmd_data_port": 56100,
+      "push_msg_port": 56200,
+      "point_data_port": 56300,
+      "imu_data_port": 56400,
+      "log_data_port": 56500
+    },
+    "host_net_info" : {
+      "cmd_data_ip" : "192.168.123.18",
+      "cmd_data_port": 56101,
+      "push_msg_ip": "192.168.123.18",
+      "push_msg_port": 56201,
+      "point_data_ip": "192.168.123.18",
+      "point_data_port": 56301,
+      "imu_data_ip" : "192.168.123.18",
+      "imu_data_port": 56401,
+      "log_data_ip" : "",
+      "log_data_port": 56501
+    }
+  },
+  "lidar_configs" : [
+    {
+      "ip" : "192.168.123.20",
+      "pcl_data_type" : 1,
+      "pattern_mode" : 0,
+      "extrinsic_parameter" : {
+        "roll": 0.0,
+        "pitch": 0.0,
+        "yaw": 0.0,
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    }
+  ]
+}

deploy/docker/scripts/mid360_start.sh

@@ -0,0 +1,7 @@
+source /opt/ros/humble/setup.bash
+source /unitree_ros2/cyclonedds_ws/install/setup.bash
+# export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+# export CYCLONEDDS_URI='<CycloneDDS><Domain><General><Interfaces>
+#                             <NetworkInterface name="eth0" priority="default" multicast="default" />
+#                         </Interfaces></General></Domain></CycloneDDS>'
+source /root/ws_livox/install/setup.bash && ros2 launch livox_ros_driver2 msg_MID360_launch.py

deploy/launch_files/msg_MID360_launch.py

@@ -0,0 +1,54 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import launch
+
+################### user configure parameters for ros2 start ###################
+xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+multi_topic   = 0    # 0-All LiDARs share the same topic, 1-One LiDAR one topic
+data_src      = 0    # 0-lidar, others-Invalid data src
+publish_freq  = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc.
+output_type   = 0
+frame_id      = 'livox_frame'
+lvx_file_path = '/home/livox/livox_test.lvx'
+cmdline_bd_code = 'livox0000000001'
+
+cur_path = os.path.split(os.path.realpath(__file__))[0] + '/'
+cur_config_path = cur_path + '../config'
+user_config_path = os.path.join(cur_config_path, 'MID360_config.json')
+################### user configure parameters for ros2 end #####################
+
+livox_ros2_params = [
+    {"xfer_format": xfer_format},
+    {"multi_topic": multi_topic},
+    {"data_src": data_src},
+    {"publish_freq": publish_freq},
+    {"output_data_type": output_type},
+    {"frame_id": frame_id},
+    {"lvx_file_path": lvx_file_path},
+    {"user_config_path": user_config_path},
+    {"cmdline_input_bd_code": cmdline_bd_code}
+]
+
+
+def generate_launch_description():
+    livox_driver = Node(
+        package='livox_ros_driver2',
+        executable='livox_ros_driver2_node',
+        name='livox_lidar_publisher',
+        output='screen',
+        parameters=livox_ros2_params
+        )
+
+    return LaunchDescription([
+        livox_driver,
+        # launch.actions.RegisterEventHandler(
+        #     event_handler=launch.event_handlers.OnProcessExit(
+        #         target_action=livox_rviz,
+        #         on_exit=[
+        #             launch.actions.EmitEvent(event=launch.events.Shutdown()),
+        #         ]
+        #     )
+        # )
+    ])

deploy/services/go2py-mid360.service

@@ -0,0 +1,13 @@
+[Unit]
+Description=ROS2 device driver container
+Requires=multi-user.target
+After=multi-user.target
+
+[Service]
+Restart=always
+ExecStartPre=/usr/bin/docker rm -f go2py_mid360 || true
+ExecStart=/bin/bash -c '/usr/bin/docker run --rm --name go2py_mid360 --privileged --network host -v /dev/*:/dev/* -v /etc/localtime:/etc/localtime:ro --runtime nvidia go2py_mid360:latest' 
+ExecStop=/usr/bin/docker stop -t 2 go2py_mid360
+
+[Install]
+WantedBy=default.target