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

.script/complete/_save-map-once

@@ -0,0 +1,4 @@
+#compdef save-map-once
+
+_arguments \
+ '1:mode:(remote local)'

.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

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 && \