feat(slam): add cartographer_ros

2025-07-04 14:39:48 +08:00
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+Want to contribute? Great! First, read this page.
+
+### Before you contribute
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0):
+
+```
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+```
+
+### Developer Certificate of Origin
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+You can sign-off a commit via `git commit -s`.
+
+### Code reviews
+
+All submissions, including submissions by project members, require review.
+We use GitHub pull requests for this purpose. Make sure you've read,
+understood and considered all the points below before creating your PR.
+
+#### Style guide
+
+C++ code should adhere to the
+[Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
+You can handle the formatting part of the style guide via `git clang-format`.
+
+#### Best practices
+
+When preparing your PR and also during the code review make sure to follow
+[best practices](https://google.github.io/eng-practices/review/developer/).
+Most importantly, keep your PR under 200 lines of code and address a single
+concern.
+
+#### Testing
+
+- Add unit tests and documentation (these do not count toward your 200 lines).
+- Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
+- Keep rebasing (or merging) of master branch to a minimum. It triggers Travis
+  runs for every update which blocks merging of other changes.