ubuntu24.04LTS, ROS2 Jazzy環境でLIVOXを使う

はじめに

ubuntu24.04LTS, ROS2 Jazzy環境でもLiVOX-SDK2とlivox_ros_driver2使うことができたが、SDK2に一部変更が必要だったので、LiVOX-SDK2とlivox_ros_driver2インストールからrviz2で点群を確認するまでのメモです。

Livox-SDK2のインストール

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd Livox-SDK2/
mkdir build
cd build
cmake .. && make -j
sudo make install

git clone したらコードの編集
sdk_core/comm/define.hとsdk_core/logger_handler/file_manager.h に以下を追加します。

#include <cstdint>

livox_ros_driver2のインストール

mkdir  -p  livox_ws/src
cd livox_ws/src/
git clone https://github.com/Livox-SDK/livox_ros_driver2.git
cd livox_ros_driver2
./build.sh humble

PCLがないというエラーがでる。

~/livox_ws/src/livox_ros_driver2$ ./build.sh humble
Working Path: /home/mori/livox_ws/src/livox_ros_driver2
ROS version is: ROS2
Starting >>> livox_ros_driver2
--- stderr: livox_ros_driver2                         
CMake Error at /opt/ros/jazzy/share/pcl_conversions/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package):
  By not providing "FindPCL.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "PCL", but
  CMake did not find one.

  Could not find a package configuration file provided by "PCL" with any of
  the following names:

    PCLConfig.cmake
    pcl-config.cmake

  Add the installation prefix of "PCL" to CMAKE_PREFIX_PATH or set "PCL_DIR"
  to a directory containing one of the above files.  If "PCL" provides a
  separate development package or SDK, be sure it has been installed.
Call Stack (most recent call first):
  /opt/ros/jazzy/share/pcl_conversions/cmake/pcl_conversionsConfig.cmake:41 (include)
  /opt/ros/jazzy/share/ament_cmake_auto/cmake/ament_auto_find_build_dependencies.cmake:67 (find_package)
  CMakeLists.txt:225 (ament_auto_find_build_dependencies)

PCLインストールして再度 ./build実行

sudo apt install libpcl-dev ros-jazzy-pcl-ros
./build.sh humble

参考記事