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 +1,147 @@
+# Copyright 2016 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.
+
+include(CMakeParseArguments)
+
+macro(_parse_arguments ARGS)
+  set(OPTIONS)
+  set(ONE_VALUE_ARG)
+  set(MULTI_VALUE_ARGS SRCS)
+  cmake_parse_arguments(ARG
+    "${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
+endmacro(_parse_arguments)
+
+macro(_common_compile_stuff VISIBILITY)
+  set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
+
+  set_target_properties(${NAME} PROPERTIES
+    COMPILE_FLAGS ${TARGET_COMPILE_FLAGS})
+
+  target_include_directories(${NAME} PUBLIC ${PROJECT_NAME})
+  target_link_libraries(${NAME} PUBLIC ${PROJECT_NAME})
+endmacro(_common_compile_stuff)
+
+function(google_test NAME ARG_SRC)
+  add_executable(${NAME} ${ARG_SRC})
+  _common_compile_stuff("PRIVATE")
+
+  # Make sure that gmock always includes the correct gtest/gtest.h.
+  target_include_directories("${NAME}" SYSTEM PRIVATE
+    "${GMOCK_INCLUDE_DIRS}")
+  target_link_libraries("${NAME}" PUBLIC ${GMOCK_LIBRARIES})
+
+  add_test(${NAME} ${NAME})
+endfunction()
+
+function(google_binary NAME)
+  _parse_arguments("${ARGN}")
+
+  add_executable(${NAME} ${ARG_SRCS})
+
+  _common_compile_stuff("PRIVATE")
+
+  install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
+endfunction()
+
+# Create a variable 'VAR_NAME'='FLAG'. If VAR_NAME is already set, FLAG is
+# appended.
+function(google_add_flag VAR_NAME FLAG)
+  if (${VAR_NAME})
+    set(${VAR_NAME} "${${VAR_NAME}} ${FLAG}" PARENT_SCOPE)
+  else()
+    set(${VAR_NAME} "${FLAG}" PARENT_SCOPE)
+  endif()
+endfunction()
+
+macro(google_initialize_cartographer_project)
+  if(CARTOGRAPHER_CMAKE_DIR)
+    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+        ${CARTOGRAPHER_CMAKE_DIR}/modules)
+  else()
+    set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
+        ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
+  endif()
+
+  if(WIN32)
+    # TODO turn on equivalent warnings on Windows
+  else()
+    set(GOOG_CXX_FLAGS "-pthread -fPIC ${GOOG_CXX_FLAGS}")
+
+    google_add_flag(GOOG_CXX_FLAGS "-Wall")
+    google_add_flag(GOOG_CXX_FLAGS "-Wpedantic")
+
+    # clalancette: disable deprecated declarations; there is currently no way to
+    # compile cartographer warning-free with this on
+    google_add_flag(GOOG_CXX_FLAGS "-Wno-deprecated-declarations")
+
+    # Turn some warnings into errors.
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=format-security")
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=missing-braces")
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=reorder")
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=return-type")
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=switch")
+    google_add_flag(GOOG_CXX_FLAGS "-Werror=uninitialized")
+
+    if (CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID MATCHES "AppleClang")
+      google_add_flag(GOOG_CXX_FLAGS "-Wthread-safety")
+    endif()
+
+    if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
+      set(CMAKE_BUILD_TYPE Release)
+    endif()
+
+    if(CMAKE_BUILD_TYPE STREQUAL "Release")
+      google_add_flag(GOOG_CXX_FLAGS "-O3 -DNDEBUG")
+    elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+      google_add_flag(GOOG_CXX_FLAGS "-O3 -g -DNDEBUG")
+    elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
+      if(FORCE_DEBUG_BUILD)
+        message(WARNING "Building in Debug mode, expect very slow performance.")
+        google_add_flag(GOOG_CXX_FLAGS "-g")
+      else()
+        message(FATAL_ERROR
+          "Compiling in Debug mode is not supported and can cause severely degraded performance. "
+          "You should change the build type to Release. If you want to build in Debug mode anyway, "
+          "call CMake with -DFORCE_DEBUG_BUILD=True"
+        )
+      endif()
+    # Support for Debian packaging CMAKE_BUILD_TYPE
+    elseif(CMAKE_BUILD_TYPE STREQUAL "None")
+      message(WARNING "Building with CMAKE_BUILD_TYPE None, "
+          "please make sure you have set CFLAGS and CXXFLAGS according to your needs.")
+    else()
+      message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
+    endif()
+
+    message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
+
+    # Add a hook that reruns CMake when source files are added or removed.
+    set(LIST_FILES_CMD "find ${PROJECT_SOURCE_DIR}/ -not -iwholename '*.git*' | sort | sed 's/^/#/'")
+    set(FILES_LIST_PATH "${PROJECT_BINARY_DIR}/AllFiles.cmake")
+    set(DETECT_CHANGES_CMD "bash" "-c" "${LIST_FILES_CMD} | diff -N -q ${FILES_LIST_PATH} - || ${LIST_FILES_CMD} > ${FILES_LIST_PATH}")
+    add_custom_target(${PROJECT_NAME}_detect_changes ALL
+      COMMAND ${DETECT_CHANGES_CMD}
+      VERBATIM
+    )
+    if(NOT EXISTS ${FILES_LIST_PATH})
+      execute_process(COMMAND ${DETECT_CHANGES_CMD})
+    endif()
+    include(${FILES_LIST_PATH})
+  endif()
+endmacro()
+
+macro(google_enable_testing)
+  enable_testing()
+  find_package(GMock REQUIRED)
+endmacro()