feat(nav): Add deps for slam building and a tool for pcd saving

[creeper5820]

PR摘要

本PR为SLAM构建添加必要依赖，并引入一个用于保存 PCD 地图的命令行工具与其补全脚本。

主要改动

1. 新增 PCD 地图保存工具（.script/save-map-once）

• 可执行 Zsh 脚本：Usage: save-map-once <remote|local>
• 支持两种模式：
  • remote：通过 ssh-remote 在机器人端触发 ROS2 服务 /save_pcd_map
  • local：在本地（容器）环境触发 /save_pcd_map
• 使用严格的 shell 选项（set -euo pipefail），包含参数检查与帮助信息
• 通过 source ~/env_setup.bash 设置环境，service 调用由变量 service_call 指定

2. 新增 Zsh 补全脚本（.script/complete/_save-map-once）

• 为 save-map-once 命令添加补全，限定第一个参数可选值为 remote 和 local

3. Dockerfile 依赖更新

• 在 llvm-toolchain 安装阶段添加 libomp-${LLVM_VERSION}-dev，以支持 OpenMP（利于 SLAM 构建的并行需求）

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: e4b24fff-2c74-4f3c-a53c-4e82750f9254

📥 Commits

Reviewing files that changed from the base of the PR and between 3925994 and 38c8e01.

📒 Files selected for processing (3)

• .script/complete/_save-map-once
• .script/save-map-once
• Dockerfile

🚧 Files skipped from review as they are similar to previous changes (3)

• .script/complete/_save-map-once
• Dockerfile
• .script/save-map-once

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Walkthrough

引入 save-map-once 命令的可执行 Shell 实现与 Zsh 完成脚本；脚本支持本地或通过 SSH 的远程两种模式来调用 ROS 2 /save_pcd_map 服务；同时在 Dockerfile 的 LLVM 工具链安装阶段添加 libomp-${LLVM_VERSION}-dev 依赖。

Changes

Cohort / File(s)	Summary
Shell 完成与命令 \.script/complete/_save-map-once, \.script/save-map-once	新增 Zsh 补全脚本（定义 save-map-once 的 `remote
构建依赖 Dockerfile	在 LLVM 工具链安装阶段将 libomp-${LLVM_VERSION}-dev 添加到 apt-get 安装列表中。

Sequence Diagram(s)

sequenceDiagram
participant User as "用户"
participant CLI as "save-map-once 脚本"
participant Env as "本地环境 (env_setup.bash)"
participant SSH as "远程主机 (ssh)"
participant ROS as "ROS2 /save_pcd_map 服务"
User->>CLI: 运行 `save-map-once [local|remote]`
CLI->>CLI: 验证参数
alt local
CLI->>Env: source env_setup.bash
Env->>ROS: ros2 service call /save_pcd_map
ROS-->>CLI: 返回结果
else remote
CLI->>SSH: ssh <host> 'source env_setup.bash && ros2 service call /save_pcd_map'
SSH-->>ROS: 在远端调用服务
ROS-->>SSH: 返回结果
SSH-->>CLI: 将远端输出返回
end
CLI-->>User: 显示结果或错误

Loading

预估代码审查工作量

🎯 2 (简单) | ⏱️ ~10 分钟

诗

🐰 我来跳一跳，脚本轻轻响，
本地与远端，映射一次成章，
ROS 在呼唤，SSH 来帮忙，
编译依赖到位，跑得更欢畅，
小兔鼓掌，路遥共赏 ⭐

🚥 Pre-merge checks | ✅ 3

✅ Passed checks (3 passed)

Check name	Status	Explanation
Description Check	✅ Passed	Check skipped - CodeRabbit’s high-level summary is enabled.
Title check	✅ Passed	The title accurately reflects the main changes: adding dependencies for SLAM building (libomp in Dockerfile) and introducing a new tool for PCD map saving (save-map-once script and its completion).
Docstring Coverage	✅ Passed	No functions found in the changed files to evaluate docstring coverage. Skipping docstring coverage check.

_{✏️ Tip: You can configure your own custom pre-merge checks in the settings.}

✨ Finishing Touches

🧪 Generate unit tests (beta)

• Create PR with unit tests
• Post copyable unit tests in a comment
• Commit unit tests in branch feature/navigation-debug-support

📝 Coding Plan

• Generate coding plan for human review comments

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[coderabbitai]

Actionable comments posted: 3

🤖 Prompt for all review comments with AI agents

Verify each finding against the current code and only fix it if needed.
Inline comments:
In @.script/complete/_save-map-once:
- Around line 3-4: 补全定义 `_arguments` 中目前只列出 `'1:mode:(remote local)'`，与
`.script/save-map-once` 第37-39行支持的 `-h/--help` 不一致；在该补全文件（标识符 `_arguments` 和字符串
`'1:mode:(remote local)'`）中添加对 `-h` 和 `--help` 的补全项（或将其作为可选
flag）以匹配脚本实际参数并确保帮助选项可补全。
In @.script/save-map-once:
- Around line 5-11: The usage() function's help text currently only shows
"save-map-once <remote|local>" but omits the supported help flags; update the
usage() message to list the supported --help and -h options alongside
remote|local so users know help is available; locate the usage() function in the
.script/save-map-once script and add "--help|-h" (or a brief "[-h|--help]") into
the Usage and short description lines so the printed help matches the parsing
logic in the option handling around lines 37-39.
In `@Dockerfile`:
- Line 99: 修复 Dockerfile 中错误的 libomp 包名：将出现的 libomp-22-${LLVM_VERSION}（使用
LLVM_VERSION 变量时会展开成错误的 libomp-22-22）替换为正确的包名格式 libomp-${LLVM_VERSION}-dev，确保在使用
LLVM_VERSION（例如 22）时生成 libomp-22-dev；更新 Dockerfile 中相应安装列表项（搜索字符串
libomp-22-${LLVM_VERSION} 或使用变量 LLVM_VERSION 的那一行）并替换为
libomp-${LLVM_VERSION}-dev。

---

ℹ️ Review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro

Run ID: 281d09b2-f211-48f3-8ead-54ba7ef449af

📥 Commits

Reviewing files that changed from the base of the PR and between 5c7f3fb and 3925994.

📒 Files selected for processing (3)

• .script/complete/_save-map-once
• .script/save-map-once
• Dockerfile

[qzhhhi]

LGTM