Added auto build script

livox_ros/README.md

@@ -9,12 +9,38 @@
 
 - Ubuntu 22.04 for ROS2 Humble
 
-## Installation
+## Alternative: automated build
+The package provides a script that installs everything automatically for you. You first has to create a catkin workspace and place the _match_livox_ folder in __[your_workspace]/src/__. It should have this structure:
+```
+user/
+└── your_workspace/
+    └── src/
+        └── match_livox
+```
+Then run the script within the _match_livox_ package, passing your ROS version as argument to it (ROS1|ROS2|humble). For example, if your ROS version is ROS1:
+```
+./auto_build.sh ROS1
+```
+In case the permission to run the script is denied, run:
+```
+chmod +x auto_build.sh
+```
+When the build is finished, the installed packages should have the following structure:
+```
+user/
+├── Livox-SDK2
+└── your_workspace/
+    └── src/
+        ├── livox_ros_driver2
+        └── match_livox
+```
+
+## Alternative: Build from source
 
 1. Follow the instruction for installing [Livox-SDK2](https://github.com/Livox-SDK/Livox-SDK2).
 
 2. Follow the instruction for installing [Livox ROS Driver 2](https://github.com/Livox-SDK/livox_ros_driver2) . __Make sure to clone the repository in [your_workspace]/src/__.
-3. Copy the match_livox folder to the same directory as livox_ros_driver2. Then from the root of your workspace folder, run `catkin_make`.
+3. Copy the _match_livox_ folder to the same directory as _livox_ros_driver2_. Then from the root of your workspace folder, run `catkin_make`.
 
 
 ## Usage for match's mur620b robot

livox_ros/match_livox/auto_build.sh

@@ -0,0 +1,103 @@
+#!/usr/bin/env bash
+# Check if ROS version was passed
+if [ $# -ne 1 ]; then
+    echo "Error: Incorrect number of arguments."
+    echo "Usage: $0 <ROS1|ROS2|humble>"
+    exit 1
+fi
+
+# Check if the argument is valid
+if [ "$1" != "ROS1" ] && [ "$1" != "ROS2" ] && [ "$1" != "humble" ]; then
+    echo "Error: Invalid argument."
+    echo "Usage: $0 <ROS1|ROS2|humble>"
+    exit 1
+fi
+
+cd `dirname $0`
+CURRENT_DIR=$(pwd)
+echo "Running script from path: "$CURRENT_DIR
+
+#build Livox-SDK2 at root folder (See https://github.com/Livox-SDK/Livox-SDK2)
+cd ~
+git clone https://github.com/Livox-SDK/Livox-SDK2.git
+cd ./Livox-SDK2/
+mkdir build
+cd build
+cmake .. && make -j
+sudo make install
+echo 'Finished building Livox-SDK2' 
+
+#build Livox ROS driver 2 (Modified build.sh, see https://github.com/Livox-SDK/livox_ros_driver2)
+cd $CURRENT_DIR
+cd ..
+git clone https://github.com/Livox-SDK/livox_ros_driver2.git
+cd livox_ros_driver2
+
+source /opt/ros/noetic/setup.sh
+
+readonly VERSION_ROS1="ROS1"
+readonly VERSION_ROS2="ROS2"
+readonly VERSION_HUMBLE="humble"
+
+pushd `pwd` > /dev/null
+
+ROS_VERSION=""
+ROS_HUMBLE=""
+
+# Set working ROS version
+if [ "$1" = "ROS2" ]; then
+    ROS_VERSION=${VERSION_ROS2}
+elif [ "$1" = "humble" ]; then
+    ROS_VERSION=${VERSION_ROS2}
+    ROS_HUMBLE=${VERSION_HUMBLE}
+elif [ "$1" = "ROS1" ]; then
+    ROS_VERSION=${VERSION_ROS1}
+else
+    echo "Invalid Argument"
+    exit
+fi
+echo "ROS version is: "$ROS_VERSION
+
+# clear `build/` folder.
+# TODO: Do not clear these folders, if the last build is based on the same ROS version.
+rm -rf ../../build/
+rm -rf ../../devel/
+rm -rf ../../install/
+# clear src/CMakeLists.txt if it exists.
+if [ -f ../CMakeLists.txt ]; then
+    rm -f ../CMakeLists.txt
+fi
+
+# exit
+
+# substitute the files/folders: CMakeList.txt, package.xml(s)
+if [ ${ROS_VERSION} = ${VERSION_ROS1} ]; then
+    if [ -f package.xml ]; then
+        rm package.xml
+    fi
+    cp -f package_ROS1.xml package.xml
+elif [ ${ROS_VERSION} = ${VERSION_ROS2} ]; then
+    if [ -f package.xml ]; then
+        rm package.xml
+    fi
+    cp -f package_ROS2.xml package.xml
+    cp -rf launch_ROS2/ launch/
+fi
+
+# build
+pushd `pwd` > /dev/null
+if [ $ROS_VERSION = ${VERSION_ROS1} ]; then
+    cd ../../
+    catkin_make -DROS_EDITION=${VERSION_ROS1}
+elif [ $ROS_VERSION = ${VERSION_ROS2} ]; then
+    cd ../../
+    colcon build --cmake-args -DROS_EDITION=${VERSION_ROS2} -DHUMBLE_ROS=${ROS_HUMBLE}
+fi
+popd > /dev/null
+
+# remove the substituted folders/files
+if [ $ROS_VERSION = ${VERSION_ROS2} ]; then
+    rm -rf launch/
+fi
+
+popd > /dev/null

livox_ros/match_livox/config/MID360_config_mur620b.json

@@ -25,7 +25,7 @@
   },
   "lidar_configs" : [
     {
-      "ip" : "192.168.1.185",
+      "ip" : "192.168.12.185",
       "pcl_data_type" : 1,
       "pattern_mode" : 0,
       "extrinsic_parameter" : {