feat(slam): add cartographer_ros

2025-07-04 14:39:48 +08:00
parent df9cee5779
commit 5cf886315d
825 changed files with 92220 additions and 0 deletions
@@ -0,0 +1,60 @@
+# Copyright 2018 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+jobs:
+- job: Build
+  pool:
+    vmImage: 'vs2017-win2016'
+  timeoutInMinutes: 360
+  steps:
+  - script: |
+      choco sources add -n=roswin -s https://aka.ms/ros/public --priority 1
+      rem Azure VM runs out of space on C:, so use D: for ros and rosdeps
+      mkdir D:\opt && mklink /J C:\opt D:\opt
+      choco upgrade %ROS_METAPACKAGE% -y
+      robocopy "." ".\src\cartographer" /E /MOVE /XD "src" > NUL
+      call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
+    env:
+      ROS_METAPACKAGE: 'ros-melodic-desktop'
+    displayName: Install prerequisites
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      catkin_make_isolated --use-ninja --install
+    displayName: Build
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      cd build_isolated\cartographer\install && ctest --no-compress-output -T Test
+    displayName: Run tests
+
+  - script: |
+      call "C:\Program Files (x86)\Microsoft Visual Studio\2017\Enterprise\VC\Auxiliary\Build\vcvars64.bat"
+      call "C:\opt\ros\melodic\x64\setup.bat"
+      call src\cartographer\scripts\remove_mingw_cygwin_from_path.bat
+      python src\cartographer\scripts\ctest_to_junit.py build_isolated\cartographer\install
+    displayName: Convert tests to jUnit
+    condition: always()
+
+  - task: PublishTestResults@2
+    displayName: Publish test results
+    inputs:
+      testRunner: 'jUnit'
+      testResultsFiles: '**\jUnit.xml'
+      searchFolder: '$(Build.SourcesDirectory)\build_isolated\cartographer\install\Testing'
+    condition: always()