Single-node dual MID360 driver: eliminate SDK race condition + logging/thread-safety fixes + unified livox CLI

.devcontainer/Dockerfile

@@ -0,0 +1,54 @@
+FROM ros:humble
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install system and ROS2 dependencies
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    wget \
+    curl \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    python3-vcstool \
+    libpcl-dev \
+    libapr1-dev \
+    libaprutil1-dev \
+    ros-humble-rclcpp \
+    ros-humble-rclcpp-components \
+    ros-humble-std-msgs \
+    ros-humble-sensor-msgs \
+    ros-humble-rcl-interfaces \
+    ros-humble-pcl-conversions \
+    ros-humble-pcl-ros \
+    ros-humble-rosbag2 \
+    ros-humble-rosidl-default-generators \
+    ros-humble-rosidl-default-runtime \
+    ros-humble-ament-lint-auto \
+    ros-humble-ament-lint-common \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN \
+    echo "Installing livox_sdk2..." && \
+    REPO_DIR="/tmp/livox_sdk2_repo" && \
+    mkdir -p "$REPO_DIR" && \
+    git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2" && \
+    cd "$REPO_DIR/Livox-SDK2" && \
+    mkdir -p build && \
+    cd build && \
+    rm -rf * && \
+    cmake ..  && \
+    make -j$(nproc) && \
+    make install && \
+    echo "livox_sdk2 installed successfully." && \
+    cd "/" && \
+    rm -rf "$REPO_DIR" && \
+    ldconfig
+
+
+# Source ROS2 in every new shell
+RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+
+# Set up workspace directory
+WORKDIR /ros2_ws

.devcontainer/devcontainer.json

@@ -0,0 +1,38 @@
+{
+  "name": "livox_ros_driver2 (ROS2 Humble)",
+  "dockerComposeFile": "docker-compose.yml",
+  "service": "devcontainer",
+  "workspaceFolder": "/ros2_ws/src/livox_ros_driver2",
+  "remoteEnv": {
+    "ROS_DISTRO": "humble",
+    "AMENT_PREFIX_PATH": "/opt/ros/humble",
+    "ROS_DOMAIN_ID": "0"
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-vscode.cmake-tools",
+        "ms-python.python"
+      ],
+      "settings": {
+        "terminal.integrated.defaultProfile.linux": "bash",
+        "terminal.integrated.profiles.linux": {
+          "bash": {
+            "path": "/bin/bash",
+            "args": ["--login"]
+          }
+        },
+        "cmake.buildDirectory": "/ros2_ws/build/livox_ros_driver2",
+        "C_Cpp.default.includePath": [
+          "/opt/ros/humble/include/**",
+          "/ros2_ws/src/livox_ros_driver2/src/**",
+          "/ros2_ws/src/livox_ros_driver2/3rdparty/**"
+        ]
+      }
+    }
+  },
+  "postCreateCommand": "cd /ros2_ws && bash -c 'source /opt/ros/humble/setup.bash && cp src/livox_ros_driver2/package_ROS2.xml src/livox_ros_driver2/package.xml'",
+  "postStartCommand": ". /opt/ros/humble/setup.sh",
+  "features": {}
+}

.devcontainer/docker-compose.yml

@@ -0,0 +1,23 @@
+version: '3.8'
+
+services:
+  devcontainer:
+    build:
+      context: ..
+      dockerfile: .devcontainer/Dockerfile
+    volumes:
+      - ..:/ros2_ws/src/livox_ros_driver2:cached
+    networks:
+      default: {}
+      livox_net:
+        ipv4_address: 192.168.1.10
+    command: sleep infinity
+
+networks:
+  livox_net:
+    driver: bridge
+    ipam:
+      driver: default
+      config:
+        - subnet: 192.168.1.0/24
+          gateway: 192.168.1.1

.github/copilot-instructions.md

@@ -0,0 +1,44 @@
+# Livox ROS Driver 2 — Copilot Instructions
+
+## Project Overview
+
+This is a ROS2 device driver for Livox 3D LiDAR sensors (MID360, HAP). It targets **ROS2 Humble or later**. The codebase also retains partial ROS1 compatibility gated behind `#ifdef BUILDING_ROS1` preprocessor guards. But only ever work on the ROS2 code.
+
+The driver supports running a **single node that manages multiple lidars** (the recommended approach for dual MID360 setups): one SDK instance handles both lidars, eliminating cross-instance SDK race conditions. See `launch/dual_mid360_launch.py`.
+
+## Build and Test
+
+```bash
+# From the workspace root (/ros2_ws)
+colcon build
+
+```
+
+## Architecture
+
+- **`src/driver_node.*`** — ROS2 node entry point, lifecycle management; includes watchdog timer and Race-3 reconnect timer
+- **`src/lddc.*`** — Lidar Data Distribution Center; routes point cloud and IMU data to ROS publishers
+- **`src/lds_lidar.*` / `src/lds.*`** — Lidar Device Scheduler; manages sensor connections and data pipelines
+- **`src/comm/`** — Low-level communication utilities: queues, semaphores, caching, and the central `PubHandler` (with per-handle allowlist)
+- **`src/call_back/`** — SDK callback handlers for incoming lidar/IMU frames
+- **`src/parse_cfg_file/`** — JSON config file parsing (uses RapidJSON from `3rdparty/`)
+- **`src/include/`** — Shared headers; `ros_headers.h` abstracts ROS1/ROS2 includes; `livox_log.h` provides node-free logging macros
+- **`config/`** — Per-sensor JSON configuration files
+- **`launch/`** — ROS2 Python launch files; `dual_mid360_launch.py` launches ONE node for BOTH MID360 lidars
+- **`src/tools/`** — Standalone CLI tools: `livox_scan` (discover lidars) and `livox_set_ip` (configure lidar IPs)
+
+## Code Conventions
+
+- **Language**: C++14, namespace `livox_ros`
+- **Naming**: `PascalCase` for classes, `snake_case` for functions and member variables
+- **Header guards**: `#ifndef LIVOX_<MODULE>_H` / `#define LIVOX_<MODULE>_H`
+- **ROS abstraction**: Use the wrappers in `src/include/ros_headers.h` rather than including ROS headers directly; guard any ROS1-specific code with `#ifdef BUILDING_ROS1`
+- **Logging**: Use `LIVOX_INFO` / `LIVOX_WARN` / `LIVOX_ERROR` / `LIVOX_DEBUG` macros from `src/include/livox_log.h` for node-free logging; they route to `RCLCPP_*` in ROS2 and `ROS_*` in ROS1
+- **Thread safety**: `connect_state` in `LidarDevice` is `std::atomic<LidarConnectState>`; use `memory_order_acquire` / `memory_order_release` at all access sites
+- **JSON parsing**: Use the bundled RapidJSON library in `3rdparty/rapidjson/`
+- **License header**: All new source files must include the MIT license block present in existing files
+
+## Dependencies
+
+Key runtime deps: `rclcpp`, `rclcpp_components`, `sensor_msgs`, `pcl_conversions`, `livox_lidar_sdk`.  
+Do **not** add new third-party libraries without updating both `CMakeLists.txt` and `package.xml`.

.github/workflows/copilot-setup-steps.yml

@@ -0,0 +1,60 @@
+name: Copilot Setup Steps
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches:
+      - master
+    paths:
+      - .github/workflows/copilot-setup-steps.yml
+
+  pull_request:
+    paths:
+      - .github/workflows/copilot-setup-steps.yml
+
+jobs:
+  copilot-setup-steps:
+    runs-on: ubuntu-22.04
+    permissions:
+      contents: read
+
+    steps:
+      - name: setup workspace
+        run: |
+          mkdir -p ${GITHUB_WORKSPACE}/src
+
+      - uses: actions/checkout@v6
+        with:
+          path: src/livox_ros_driver2
+
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+
+      - name: install workspace dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y build-essential cmake ros-humble-ros-base
+          source /opt/ros/humble/setup.bash
+          rosdep update --rosdistro humble
+          rosdep install --from-paths ${GITHUB_WORKSPACE}/src --ignore-src -r -y
+
+      - name: install Livox SDK2
+        run: |
+          REPO_DIR="/tmp/livox_sdk2_repo"
+          mkdir -p "$REPO_DIR"
+          git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
+          cd "$REPO_DIR/Livox-SDK2"
+          mkdir -p build && cd build
+          cmake ..
+          make -j$(nproc)
+          sudo make install
+          sudo ldconfig
+          rm -rf "$REPO_DIR"
+
+      - name: build workspace
+        run: |
+          cd ${GITHUB_WORKSPACE}
+          source /opt/ros/humble/setup.bash
+          colcon build --symlink-install --continue-on-error || true
+          source install/setup.bash

.github/workflows/ros-ci.yml

@@ -0,0 +1,80 @@
+name: ros CI
+
+on:
+  push:
+    # you may want to configure the branches that this should be run on here.
+    branches: [ "master" ]
+  pull_request:
+
+jobs:
+  test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+    strategy:
+      matrix:
+        ros_distribution:
+          # - noetic
+          - humble
+          # - iron
+
+        # Define the Docker image(s) associated with each ROS distribution.
+        # The include syntax allows additional variables to be defined, like
+        # docker_image in this case. See documentation:
+        # https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
+        #
+        # Platforms are defined in REP 3 and REP 2000:
+        # https://ros.org/reps/rep-0003.html
+        # https://ros.org/reps/rep-2000.html
+        include:
+          # Noetic Ninjemys (May 2020 - May 2025)
+          # - docker_image: ubuntu:focal
+          #   ros_distribution: noetic
+          #   ros_version: 1
+
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: ubuntu:jammy
+            ros_distribution: humble
+            ros_version: 2
+
+          # Iron Irwini (May 2023 - November 2024)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: iron
+          #   ros_version: 2
+
+          # # Rolling Ridley (No End-Of-Life)
+          # - docker_image: ubuntu:jammy
+          #   ros_distribution: rolling
+          #   ros_version: 2
+
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+      - uses: actions/checkout@v6
+        with:
+          path: src/livox_ros_driver2
+      - name: setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+      - name: install build dependencies
+        run: |
+          apt-get update
+          apt-get install -y build-essential cmake
+      - name: install Livox SDK2
+        run: |
+          REPO_DIR="/tmp/livox_sdk2_repo"
+          mkdir -p "$REPO_DIR"
+          git clone --branch v1.2.5 --depth 1 https://github.com/Livox-SDK/Livox-SDK2.git "$REPO_DIR/Livox-SDK2"
+          cd "$REPO_DIR/Livox-SDK2"
+          mkdir -p build && cd build
+          cmake ..
+          make -j$(nproc)
+          make install
+          ldconfig
+          rm -rf "$REPO_DIR"
+      - name: build and test ROS 2
+        if: ${{ matrix.ros_version == 2 }}
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          import-token: ${{ github.token }}
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          skip-tests: true

.gitignore

@@ -1,4 +1,4 @@
 .vscode
 build
-package.xml
+#package.xml
 __pycache__

CMakeLists.txt

@@ -1,3 +1,24 @@
+# Set defaults if not specified, using ROS environment variables when available
+if(NOT DEFINED ROS_EDITION)
+  if(DEFINED ENV{ROS_VERSION})
+    if("$ENV{ROS_VERSION}" STREQUAL "1")
+      set(ROS_EDITION "ROS1" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
+    else()
+      set(ROS_EDITION "ROS2" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
+    endif()
+  else()
+    set(ROS_EDITION "ROS2" CACHE STRING "ROS edition to build for (ROS1 or ROS2)" FORCE)
+  endif()
+endif()
+
+if(NOT DEFINED HUMBLE_ROS)
+  if(DEFINED ENV{ROS_DISTRO})
+    set(HUMBLE_ROS "$ENV{ROS_DISTRO}" CACHE STRING "ROS2 distro name" FORCE)
+  else()
+    set(HUMBLE_ROS "humble" CACHE STRING "ROS2 distro name" FORCE)
+  endif()
+endif()
+
 # judge which cmake codes to use 
 if(ROS_EDITION STREQUAL "ROS1")
 
@@ -317,6 +338,19 @@ else(ROS_EDITION STREQUAL "ROS2")
     EXECUTABLE ${PROJECT_NAME}_node
   )
 
+  # livox: unified command-line tool (search, setup, reboot, reset, firmware_upgrade)
+  # Replaces the former livox_set_ip, livox_scan, and livox_reboot tools.
+  add_executable(livox src/tools/livox.cpp)
+  target_include_directories(livox PRIVATE
+    ${LIVOX_LIDAR_SDK_INCLUDE_DIR}
+  )
+  target_link_libraries(livox
+    ${LIVOX_LIDAR_SDK_LIBRARY}
+  )
+  install(TARGETS livox
+    DESTINATION lib/${PROJECT_NAME}
+  )
+
   if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     # the following line skips the linter which checks for copyrights
@@ -330,7 +364,7 @@ else(ROS_EDITION STREQUAL "ROS2")
 
   ament_auto_package(INSTALL_TO_SHARE
     config
-    launch_ROS2
+    launch
   )
 
 endif()