mid360 lidar drive, fastlio, and go2 docker added.

.devcontainer/Dockerfile.go2

@@ -0,0 +1,37 @@
+FROM nvcr.io/nvidia/isaac/ros:aarch64-ros2_humble_42f50fd45227c63eb74af1d69ddc2970
+ENV DEBIAN_FRONTEND noninteractive
+ARG CONDA_VER=latest
+ARG OS_TYPE=aarch64
+
+RUN apt-get update && apt-get install -y -qq --no-install-recommends \ cuda \
+                                                                        wget \
+                                                                        ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+                                                                        && rm -rf /var/lib/apt/lists/*
+
+# MID360 Lidar Drivers
+RUN cd /root && git clone https://github.com/Livox-SDK/Livox-SDK2.git && cd ./Livox-SDK2/ && mkdir build && cd build && cmake .. && make -j4 && make install
+RUN cd /root && git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2 && cd ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.bash && cd /root/ws_livox/src/livox_ros_driver2 && /bin/bash build.sh humble
+# FAST-LIO Install
+RUN cd /root && mkdir -p fastlio-ws/src && cd fastlio-ws/src && git clone https://github.com/Ericsii/FAST_LIO.git --recursive && cd FAST_LIO && git checkout ros2 && cd /root/fastlio-ws && source /root/ws_livox/install/setup.bash && colcon build --symlink-install  
+
+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 echo "export CYCLONEDDS_HOME=/unitree_ros2/cyclonedds_ws/install/cyclonedds/" >> ~/.bashrc
+RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-python -b releases/0.10.x && cd cyclonedds-python && pip install .
+
+# CycloneDDS-cxx
+RUN cd /root && git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx -b releases/0.10.x &&\
+    cd cyclonedds-cxx && mkdir build install && cd build && cmake .. && \
+    cmake --build . --target install
+
+# Install Python dependencies
+RUN pip install matplotlib opencv-python scipy isort black onnx onnxruntime
+RUN pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-manylinux2014_aarch64.whl
+RUN pip install cyclonedds pygame pynput jupyter ipykernel meshcat
+
+# RUN echo 'source /unitree_ros2/cyclonedds_ws/install/setup.bash' >> ~/.bashrc
+# RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> ~/.bashrc
+# RUN echo 'export CYCLONEDDS_URI=file:///home/Go2py/Go2Py/assets/cyclonedds.xml' >> ~/.bashrc

Makefile

@@ -38,7 +38,8 @@ 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 .
+	@cd deploy && docker build --tag go2py_mid360:latest -f docker/Dockerfile.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 .

deploy/docker/Dockerfile.mid360

@@ -1,31 +1,32 @@
 # FROM isaac_ros_dev-aarch64
-FROM ros:humble
+FROM robocaster/mid360:go2
+# FROM ros:humble
 ENV DEBIAN_FRONTEND=noninteractive
 SHELL ["/bin/bash", "-c"]
 # uodate and install dependencies 
-RUN apt-get update && apt-get install -y \
+# RUN apt-get update && apt-get install -y \
-    ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
+#     # ros-humble-rmw-cyclonedds-cpp ros-humble-rosidl-generator-dds-idl \
-    # ros-humble-realsense2-camera \
+#     # ros-humble-realsense2-camera \
-    ros-humble-pointcloud-to-laserscan \
+#     ros-humble-pointcloud-to-laserscan \
-    libyaml-cpp-dev \
+#     # libyaml-cpp-dev \
-    libboost-all-dev\
+#     # libboost-all-dev\
-    build-essential \
+#     build-essential \
-    cmake \
+#     cmake \
-    git \
+#     git \
-    ros-humble-pcl-ros \
+#     ros-humble-pcl-ros \
-    && rm -rf /var/lib/apt/lists/*
+#     && rm -rf /var/lib/apt/lists/*
 
-# Cheange the ROS2 RMW to CycloneDDS as instructed by Unitree
+# # 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 && \
+# 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 &&\
+# 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
+# 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 https://github.com/Livox-SDK/Livox-SDK2.git && 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
+# RUN cd /root && 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
+RUN cd /root/ws_livox/src/livox_ros_driver2 && source /opt/ros/humble/setup.sh && /bin/bash build.sh humble
 
 # Copy the script to start the nodes
 COPY docker/scripts/mid360_start.sh /root/mid360_start.sh

deploy/launch_files/fast_lio.launch.py

@@ -0,0 +1,48 @@
+import os.path
+
+from ament_index_python.packages import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.conditions import IfCondition
+
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    package_path = get_package_share_directory('fast_lio')
+    default_config_path = os.path.join(package_path, 'config')
+
+    use_sim_time = LaunchConfiguration('use_sim_time')
+    config_path = LaunchConfiguration('config_path')
+    config_file = LaunchConfiguration('config_file')
+
+    declare_use_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time', default_value='false',
+        description='Use simulation (Gazebo) clock if true'
+    )
+    declare_config_path_cmd = DeclareLaunchArgument(
+        'config_path', default_value=default_config_path,
+        description='Yaml config file path'
+    )
+    decalre_config_file_cmd = DeclareLaunchArgument(
+        'config_file', default_value='mid360.yaml',
+        description='Config file'
+    )
+
+    fast_lio_node = Node(
+        package='fast_lio',
+        executable='fastlio_mapping',
+        parameters=[PathJoinSubstitution([config_path, config_file]),
+                    {'use_sim_time': use_sim_time}],
+        output='screen'
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(declare_use_sim_time_cmd)
+    ld.add_action(declare_config_path_cmd)
+    ld.add_action(decalre_config_file_cmd)
+    ld.add_action(fast_lio_node)
+
+    return ld

deploy/launch_files/msg_MID360_launch.py

@@ -5,7 +5,7 @@ from launch_ros.actions import Node
 import launch
 
 ################### user configure parameters for ros2 start ###################
-xfer_format   = 0    # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format
+xfer_format   = 1    # 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.

deploy/ros2_nodes/go2_description/xacro/robot.xacro

@@ -184,6 +184,21 @@
         <child link="hesai"/>
         <axis xyz="0 0 0"/>
     </joint>
+
+
+    <link name="mid360">
+        <inertial>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <mass value="0"/>
+        <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+        </inertial>
+    </link>
+    <joint name="mid360_joint" type="fixed">
+        <origin rpy="0. 0.22689284 0." xyz="0.1870 0 0.0803"/>
+        <parent link="base_link"/>
+        <child link="mid360"/>
+        <axis xyz="0 0 0"/>
+    </joint>
     
     <xacro:leg name="FR" mirror="-1" mirror_dae= "False" front_hind="1"  front_hind_dae="True"  />
     <xacro:leg name="FL" mirror="1"  mirror_dae="True"   front_hind="1"  front_hind_dae="True"  />