Add support for ROS2, test with Ubuntu 20.04 + ROS2 Galactic

[whyscience]

You can add a ros2 branch instead of merge to master

[wendwosenbb]

@whyscience does this ros2 branch work with mid-360 lidar? The node died without logs.

w@w-Crosshair-15-A11UCK:~/ros2_ws$ ros2 launch point_lio mapping_mid360.launch.py [INFO] [launch]: All log files can be found below /home/w/.ros/log/2024-08-14-13-13-44-977844-w-Crosshair-15-A11UCK-3126624 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [pointlio_mapping-1]: process started with pid [3126754] [INFO] [rviz2-2]: process started with pid [3126756] [pointlio_mapping-1] GNU gdb (Ubuntu 9.2-0ubuntu1~20.04.2) 9.2 [pointlio_mapping-1] Copyright (C) 2020 Free Software Foundation, Inc. [pointlio_mapping-1] License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html> [pointlio_mapping-1] This is free software: you are free to change and redistribute it. [pointlio_mapping-1] There is NO WARRANTY, to the extent permitted by law. [pointlio_mapping-1] Type "show copying" and "show warranty" for details. [pointlio_mapping-1] This GDB was configured as "x86_64-linux-gnu". [pointlio_mapping-1] Type "show configuration" for configuration details. [pointlio_mapping-1] For bug reporting instructions, please see: [pointlio_mapping-1] <http://www.gnu.org/software/gdb/bugs/>. [pointlio_mapping-1] Find the GDB manual and other documentation resources online at: [pointlio_mapping-1] <http://www.gnu.org/software/gdb/documentation/>. [pointlio_mapping-1] [pointlio_mapping-1] For help, type "help". [pointlio_mapping-1] Type "apropos word" to search for commands related to "word"... [pointlio_mapping-1] Reading symbols from /home/w/ros2_ws/install/point_lio/lib/point_lio/pointlio_mapping... [pointlio_mapping-1] (No debugging symbols found in /home/w/ros2_ws/install/point_lio/lib/point_lio/pointlio_mapping) [pointlio_mapping-1] Starting program: /home/w/ros2_ws/install/point_lio/lib/point_lio/pointlio_mapping --ros-args -r __node:=laserMapping --params-file /home/w/ros2_ws/install/point_lio/share/point_lio/config/mid360.yaml --params-file /tmp/launch_params_teh0wz2q [pointlio_mapping-1] [Thread debugging using libthread_db enabled] [pointlio_mapping-1] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [rviz2-2] [INFO] [1723659227.277458078] [rviz2]: Stereo is NOT SUPPORTED [rviz2-2] [INFO] [1723659227.277765916] [rviz2]: OpenGl version: 4.6 (GLSL 4.6) [rviz2-2] [INFO] [1723659227.334366584] [rviz2]: Stereo is NOT SUPPORTED [pointlio_mapping-1] [New Thread 0x7ffff1efb700 (LWP 3127021)] [pointlio_mapping-1] [New Thread 0x7ffff16fa700 (LWP 3127022)] [pointlio_mapping-1] [New Thread 0x7ffff0ef9700 (LWP 3127023)] [pointlio_mapping-1] [New Thread 0x7ffff06f8700 (LWP 3127024)] [pointlio_mapping-1] [New Thread 0x7fffefef7700 (LWP 3127025)] [pointlio_mapping-1] [New Thread 0x7fffef6f6700 (LWP 3127026)] [pointlio_mapping-1] [New Thread 0x7fffeedf4700 (LWP 3127027)] [pointlio_mapping-1] [New Thread 0x7fffee4f2700 (LWP 3127028)] [pointlio_mapping-1] [New Thread 0x7fffedcf1700 (LWP 3127029)] [pointlio_mapping-1] Multi thread started [pointlio_mapping-1] lidar_type: 1 [pointlio_mapping-1] ~~~~/home/w/ros2_ws/src/Point-LIO/ file opened [pointlio_mapping-1] first lidar time1.69712e+09 [pointlio_mapping-1] [INFO] [1723659255.586313415] [laserMapping]: IMU Initializing: 1.0 % [pointlio_mapping-1] [WARN] [1723659255.586776616] [laserMapping]: Reset ImuProcess [pointlio_mapping-1] [INFO] [1723659255.684467710] [laserMapping]: IMU Initializing: 10.0 % [pointlio_mapping-1] [INFO] [1723659255.785253634] [laserMapping]: IMU Initializing: 39.0 % [pointlio_mapping-1] [INFO] [1723659255.879150990] [laserMapping]: IMU Initializing: 88.0 % [pointlio_mapping-1] [INFO] [1723659255.879328792] [laserMapping]: IMU Initializing: 100.0 % [ERROR] [pointlio_mapping-1]: process has died [pid 3126754, exit code -6, cmd 'gdb -ex run --args /home/w/ros2_ws/install/point_lio/lib/point_lio/pointlio_mapping --ros-args -r __node:=laserMapping --params-file /home/w/ros2_ws/install/point_lio/share/point_lio/config/mid360.yaml --params-file /tmp/launch_params_teh0wz2q']. ^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT) [rviz2-2] [INFO] [1723659350.178161923] [rclcpp]: signal_handler(signal_value=2) [INFO] [rviz2-2]: process has finished cleanly [pid 3126756]