# Clone with submodules
cd ~/ros2_ws/src
git clone --recursive https://github.com/93won/lio_ros_wrapper.git
cd lio_ros_wrapper

# If already cloned without --recursive
git submodule update --init --recursive

# Install dependencies
sudo apt install -y libeigen3-dev libyaml-cpp-dev libspdlog-dev

# Build
cd ~/ros2_ws
colcon build --packages-select lio_ros_wrapper --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash

# Launch with RViz (Livox AVIA)
ros2 launch lio_ros_wrapper lio_avia.launch.py

# Launch with RViz (Livox Mid360)
ros2 launch lio_ros_wrapper lio_mid360.launch.py

# Play bag file
ros2 bag play your_dataset.db3 -r 1.0

# Play at 10x speed
ros2 bag play your_dataset.db3 -r 10