From 38c8e01dc81a29b74f7bb0a3d2db25117ba1e074 Mon Sep 17 00:00:00 2001
From: creeper5820 <cqq1960180796@163.com>
Date: Fri, 13 Mar 2026 06:47:35 +0800
Subject: [PATCH] feat(nav): Add deps for slam building and a tool for pcd
 saving

---
 .script/complete/_save-map-once |  4 +++
 .script/save-map-once           | 45 +++++++++++++++++++++++++++++++++
 Dockerfile                      |  1 +
 3 files changed, 50 insertions(+)
 create mode 100644 .script/complete/_save-map-once
 create mode 100755 .script/save-map-once

diff --git a/.script/complete/_save-map-once b/.script/complete/_save-map-once
new file mode 100644
index 000000000..580dd8047
--- /dev/null
+++ b/.script/complete/_save-map-once
@@ -0,0 +1,4 @@
+#compdef save-map-once
+
+_arguments \
+  '1:mode:(remote local)'
diff --git a/.script/save-map-once b/.script/save-map-once
new file mode 100755
index 000000000..a7364d798
--- /dev/null
+++ b/.script/save-map-once
@@ -0,0 +1,45 @@
+#!/bin/zsh
+
+set -euo pipefail
+
+usage() {
+    cat <<'EOF'
+Usage: save-map-once <remote|local>
+
+  remote  Trigger robot-side /save_pcd_map service via ssh remote.
+  local   Trigger local container /save_pcd_map service.
+EOF
+}
+
+if (( $# != 1 )); then
+    usage
+    exit 1
+fi
+
+readonly mode="$1"
+readonly service_call='ros2 service call /save_pcd_map std_srvs/srv/Trigger "{}"'
+
+call_local() {
+    bash -lc "source ~/env_setup.bash && ${service_call}"
+}
+
+call_remote() {
+    ssh-remote "bash -lc 'source ~/env_setup.bash && ${service_call}'"
+}
+
+case "$mode" in
+remote)
+    call_remote
+    ;;
+local)
+    call_local
+    ;;
+--help|-h)
+    usage
+    ;;
+*)
+    echo "Error: unsupported mode '$mode'."
+    usage
+    exit 1
+    ;;
+esac
diff --git a/Dockerfile b/Dockerfile
index ecce1882d..5fce6b00f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -96,6 +96,7 @@ RUN mkdir -p /etc/apt/keyrings && \
     > /etc/apt/sources.list.d/llvm.list && \
     apt-get update && \
     apt-get install -y --no-install-recommends \
+    libomp-${LLVM_VERSION}-dev \
     clang-${LLVM_VERSION} clangd-${LLVM_VERSION} clang-format-${LLVM_VERSION} clang-tidy-${LLVM_VERSION} \
     lldb-${LLVM_VERSION} lld-${LLVM_VERSION} llvm-${LLVM_VERSION} && \
     update-alternatives --install /usr/bin/clang clang /usr/bin/clang-${LLVM_VERSION} 50 && \