add overlay image on c++ for debug; unify synced sensor output

script/build_ros.sh

@@ -1,128 +0,0 @@
-#!/bin/bash
-
-# Get the directory where the script is located (Odin_ROS_Driver directory)
-PKG_DIR="$(cd "$(dirname "$0")/.."; pwd)"
-# Calculate the workspace root directory (contains devel, build, src)
-WORKSPACE_ROOT="$(dirname "$(dirname "$PKG_DIR")")"
-# Workspace source directory (contains all packages)
-WORKSPACE_SRC="${WORKSPACE_ROOT}/src"
-PROJECT_NAME="odin_ros_driver"
-
-# Define color codes
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[1;33m'
-NC='\033[0m' 
-
-# Clean workspace function
-clean_workspace() {
-    echo -e "${YELLOW}Cleaning build directories${NC}"
-    
-    # Clean build artifacts in workspace
-    rm -rf "${WORKSPACE_ROOT}/build" 
-    rm -rf "${WORKSPACE_ROOT}/install" 
-    rm -rf "${WORKSPACE_ROOT}/log"
-    rm -rf "${WORKSPACE_ROOT}/devel"
-    
-    echo -e "${GREEN}Cleanup complete${NC}"
-}
-
-# Run node function
-run_node() {
-    echo -e "${YELLOW}Running ROS1 node${NC}"
-    
-    # Check if environment file exists
-    if [ ! -f "${WORKSPACE_ROOT}/devel/setup.bash" ]; then
-        echo -e "${RED}Could not find devel/setup.bash, please build the project with ./build_ros1.sh first${NC}"
-        return 1
-    fi
-    
-    # Source environment and run node
-    source "${WORKSPACE_ROOT}/devel/setup.bash"
-    
-}
-
-# Build workspace function
-build_workspace() {
-    echo -e "${YELLOW}Workspace structure:${NC}"
-    echo "  Workspace root: ${WORKSPACE_ROOT}"
-    echo "  Source directory: ${WORKSPACE_SRC}"
-    echo "  Package directory: ${PKG_DIR}"
-    echo "  ROS version: ROS1"
-    
-    echo -e "${YELLOW}Starting ROS1 project build...${NC}"
-    
-    # Clean
-    cd $WS_DIR
-    rm -rf build devel install
-    
-    # Ensure ROS1 environment is loaded
-    if [ -f "/opt/ros/noetic/setup.bash" ]; then
-        source "/opt/ros/noetic/setup.bash"
-    elif [ -f "/opt/ros/melodic/setup.bash" ]; then
-        source "/opt/ros/melodic/setup.bash"
-    else
-        echo -e "${RED}Could not find ROS1 setup.bash file. Please ensure ROS1 is installed.${NC}"
-        return 1
-    fi
-    
-    # Create temporary package.xml
-    if [ -f "${PKG_DIR}/package_ros1.xml" ]; then
-        echo "Creating temporary package.xml (using package_ros1.xml)"
-        cp "${PKG_DIR}/package_ros1.xml" "${PKG_DIR}/package.xml"
-        TEMP_PACKAGE=true
-    elif [ -f "${PKG_DIR}/package.xml" ]; then
-        echo "Using existing package.xml"
-    else
-        echo -e "${RED}Could not find package.xml in package directory${NC}"
-        return 1
-    fi
-    
-    # Set build system variable
-    export BUILD_SYSTEM=ROS1
-    
-    # Switch to workspace root and build
-    cd "${WORKSPACE_ROOT}" || return 1
-    catkin_make -DBUILD_SYSTEM=ROS1 -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -j$(nproc)
-    BUILD_RESULT=$?
-    
-    # If build successful, source environment
-    if [[ $BUILD_RESULT -eq 0 ]]; then
-        echo -e "${GREEN}ROS1 build successful, loading environment: source devel/setup.bash${NC}"
-        source "${WORKSPACE_ROOT}/devel/setup.bash"
-    else
-        echo -e "${RED}ROS1 build failed, please check error logs${NC}"
-    fi
-    
-
-}
-
-# Help function
-show_help() {
-    echo -e "${YELLOW}Usage:${NC}"
-    echo "  ./build_ros.sh          # Build project"
-    echo "  ./build_ros.sh -c       # Clean build artifacts"
-    echo "  ./build_ros.sh -h       # Show help information"
-    echo ""
-    echo -e "${YELLOW}Current configuration:${NC}"
-    echo "  Project name: ${PROJECT_NAME}"
-    echo "  Package directory: ${PKG_DIR}"
-    echo "  Workspace root: ${WORKSPACE_ROOT}"
-    echo "  Source directory: ${WORKSPACE_SRC}"
-}
-
-# Main
-case "$1" in
-    -c|--clean)
-        clean_workspace
-        ;;
-    -r|--run)
-        run_node
-        ;;
-    -h|--help)
-        show_help
-        ;;
-    *)
-        build_workspace
-        ;;
-esac