Add livox docker jazzy

.github/workflows/ros-docker-image.yaml

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+---
+name: Build/Publish ROS Docker Image
+
+on:
+  workflow_dispatch:
+    inputs:
+      build_type:
+        description: Is it a "development" or a "stable" release?
+        required: true
+        default: development
+        type: choice
+        options:
+          - development
+          - stable
+      target_distro:
+        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
+          humble)
+        type: string
+        default: ardent
+      target_release:
+        description: In case of "stable" release specify the version of the existing docker image (eg.
+          1.0.12)
+        type: string
+        default: 0.0.0
+      target_date:
+        description: In case of "stable" release specify the date of the existing docker image in format
+          YYYYMMDD (eg. 20220124)
+        type: string
+        default: '20131206'
+  repository_dispatch:
+    types: [rebuild]
+  pull_request:
+    types:
+      - closed
+      - opened
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [humble, jazzy]
+
+    steps:
+
+      - name: Checkout
+        uses: actions/checkout@v2
+
+      - name: Build Docker Image
+        uses: husarion-ci/ros-docker-img-action@v0.4
+        with:
+          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+          repo_name: livox-lidar
+          main_branch_name: ros2
+          build_type: ${{ inputs.build_type }}
+          ros_distro: ${{ matrix.ros_distro }}
+          platforms: linux/amd64, linux/arm64
+          # variables important only for stable release
+          target_distro: ${{ inputs.target_distro }}
+          target_release: ${{ inputs.target_release }}
+          target_date: ${{ inputs.target_date }}

.pre-commit-config.yaml

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+---
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.5.0
+    hooks:
+      - id: check-merge-conflict
+      - id: trailing-whitespace
+      - id: end-of-file-fixer
+      - id: check-yaml
+      - id: check-xml
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-json
+      - id: name-tests-test
+        files: ^.*\/test\/.*$
+        args: [--pytest-test-first]
+
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.2.6
+    hooks:
+      - id: codespell
+        entry: codespell *
+
+  - repo: https://github.com/jumanjihouse/pre-commit-hook-yamlfmt
+    rev: 0.2.3
+    hooks:
+      - id: yamlfmt
+        files: ^(?!.*compose).*$
+        args: [--mapping, '2', --sequence, '4', --offset, '2', --width, '100']
+
+
+  - repo: https://github.com/psf/black
+    rev: 23.12.0
+    hooks:
+      - id: black
+        args: [--line-length=99]
+
+  - repo: https://github.com/PyCQA/flake8
+    rev: 6.1.0
+    hooks:
+      - id: flake8
+        args: ['--ignore=E501,W503']   # ignore too long line and line break before binary operator,
+                                       # black checks it
+
+      # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: v1.1.1
+    hooks:
+      - id: doc8
+        args: [--max-line-length=100, --ignore=D001]
+        exclude: ^.*\/CHANGELOG\.rst/.*$
+
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
+    hooks:
+      - id: clang-format

Dockerfile

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+# Define build stage for creating ROS packages
+ARG ROS_DISTRO=jazzy
+ARG PREFIX=
+
+# =========================== package builder ===============================
+FROM husarnet/ros:$ROS_DISTRO-ros-base AS pkg-builder
+
+WORKDIR /ros2_ws
+
+# Setup workspace
+RUN git clone https://github.com/tu-darmstadt-ros-pkg/livox_ros_driver2 -b $ROS_DISTRO /ros2_ws/src/livox_ros_driver2 && \
+    git clone https://github.com/tu-darmstadt-ros-pkg/Livox-SDK2 -b $ROS_DISTRO /ros2_ws/src/livox_sdk2 && \
+    apt-get update -y && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install --from-paths src --ignore-src -y
+
+
+# Optional: Create healthcheck package
+RUN cd src/ && \
+    source /opt/ros/$ROS_DISTRO/setup.bash && \
+    ros2 pkg create healthcheck_pkg --build-type ament_cmake --dependencies rclcpp sensor_msgs && \
+    sed -i '/find_package(sensor_msgs REQUIRED)/a \
+            add_executable(healthcheck_node src/healthcheck.cpp)\n \
+            ament_target_dependencies(healthcheck_node rclcpp sensor_msgs)\n \
+            install(TARGETS healthcheck_node DESTINATION lib/${PROJECT_NAME})' \
+            /ros2_ws/src/healthcheck_pkg/CMakeLists.txt
+COPY ./husarion_utils/healthcheck.cpp /ros2_ws/src/healthcheck_pkg/src/
+
+# Build
+RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+    echo $(cat /ros2_ws/src/livox_ros_driver2/package.xml | grep '<version>' | sed -r 's/.*<version>([0-9]+.[0-9]+.[0-9]+)<\/version>/\1/g') > /version.txt && \
+    rm -rf build log
+
+RUN apt update -y && \
+    apt-get install -y ros-$ROS_DISTRO-nav2-common && \
+    apt-get clean && \
+    rm -rf src && \
+    rm -rf /var/lib/apt/lists/*
+
+COPY ./husarion_utils /husarion_utils
+
+HEALTHCHECK --interval=2s --timeout=1s --start-period=20s --retries=1 \
+    CMD ["/husarion_utils/healthcheck.sh"]
+
+
+# Ensure LIDAR stops spinning on container shutdown
+STOPSIGNAL SIGINT

README.md

@@ -1,2 +1,52 @@
-# livox-docker
-Docker images for Livox LIDARs
+<h1 align="center">
+  Docker Images for Livox LIDARs
+</h1>
+
+The repository includes a GitHub Actions workflow that automatically deploys built Docker images to the [husarion/livox-docker](https://hub.docker.com/r/husarion/livox) Docker Hub repositories. This process is based on the fork of [tu-darmstadt-ros-pkg/livox_ros_driver2](https://github.com/tu-darmstadt-ros-pkg/livox_ros_driver2) repository.
+
+[![ROS Docker Image](https://github.com/husarion/livox-docker/actions/workflows/ros-docker-image.yaml/badge.svg)](https://github.com/husarion/livox-docker/actions/workflows//ros-docker-image.yaml)
+
+
+## Prepare Environment
+
+1. Plugin the Device
+
+Connect the device to the power supply and plug the ethernet cable to your PC or Husarion UGV router.
+
+2. Check connection
+
+Read the serial number of a Livox MID360 and remember last 2 numbers. These numbers are the part of its ip `192.168.1.1xx`.
+
+To check the connection use the `ping` command:
+```bash
+ping 192.168.1.1xx
+```
+
+## Demo
+
+
+1. Clone the Repository
+
+   ```bash
+   git clone https://github.com/husarion/livox-docker.git
+   cd livox-docker/demo
+   ```
+
+2. Set the Appropriate IP
+  In [configuration](./demo/MID360_config.json) `lidar_config` > `ip` in the 28th line set this ip.
+
+  Your SBC should have ip `192.168.1.50`. For Husarion UGV SBC you can add to the ethernet interface configuration additional IP.
+  In file `/etc/netplan/01-network-manager-all.yaml` add to `addresses` `- 192.168.1.50/24`.
+
+3. Activate the Device
+
+   ```bash
+   docker compose up livox
+   ```
+
+4. Launch Visualization
+
+   ```bash
+   xhost local:root
+   docker compose up rviz
+   ```

demo/.env

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+# =======================================
+# Namespace config
+# =======================================
+# To use multimle devices on multible robot you have to specify following field
+
+# Uncomment to add robot namespace
+# ROBOT_NAMESPACE=robot

demo/MID360_config.json

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+{
+  "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": "192.168.1.50",
+      "cmd_data_port": 56101,
+      "push_msg_ip": "192.168.1.50",
+      "push_msg_port": 56201,
+      "point_data_ip": "192.168.1.50",
+      "point_data_port": 56301,
+      "imu_data_ip": "192.168.1.50",
+      "imu_data_port": 56401,
+      "log_data_ip": "192.168.1.50",
+      "log_data_port": 56501
+    }
+  },
+  "lidar_configs": [
+    {
+      "ip": "192.168.1.160",
+      "pcl_data_type": 1,
+      "pattern_mode": 0,
+      "frame_id": "<frame_id>",
+      "extrinsic_parameter": {
+        "roll": 0.0,
+        "pitch": 0.0,
+        "yaw": 0.0,
+        "x": 0,
+        "y": 0,
+        "z": 0
+      }
+    }
+  ]
+}

demo/compose.yaml

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+x-common-config:
+  &common-config
+  network_mode: host
+  ipc: host
+  env_file: .env
+
+services:
+  livox:
+    # image: husarion/livox-lidar:jazzy
+    build:
+      context: ..
+      dockerfile: Dockerfile
+    <<: *common-config
+    volumes:
+      - ./MID360_config.json:/ros2_ws/install/livox_ros_driver2/share/livox_ros_driver2/config/MID360_config.json
+    environment:
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: >
+      ros2 launch /husarion_utils/livox.launch.py
+
+  rviz:
+    image: husarion/rviz2:humble
+    <<: *common-config
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./default.rviz:/root/.rviz2/default.rviz
+      - ./rviz.launch.py:/ros2_ws/rviz.launch.py
+    environment:
+      - DISPLAY=${DISPLAY:?err}
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+    command: >
+      ros2 launch rviz.launch.py