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 +1,28 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package cartographer_ros_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+2.0.9003 (2024-04-17)
+---------------------
+
+2.0.9002 (2024-03-15)
+---------------------
+
+2.0.9001 (2023-04-13)
+---------------------
+
+2.0.9000 (2022-03-31)
+---------------------
+* Update to latest upstream, as well as new port to ROS 2.
+
+0.3.0 (2017-11-23)
+------------------
+* https://github.com/googlecartographer/cartographer_ros/compare/0.2.0...0.3.0
+
+0.2.0 (2017-06-19)
+------------------
+* https://github.com/googlecartographer/cartographer_ros/compare/0.1.0...0.2.0
+
+0.1.0 (2017-05-18)
+------------------
+* First unstable development release
@@ -0,0 +1,72 @@
+# 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.
+
+cmake_minimum_required(VERSION 3.5)
+
+project(cartographer_ros_msgs)
+
+# Default to C++14.
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # We don't use add_compile_options with pedantic in message packages
+  # because the Python C extensions don't comply with it.
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+
+set(msg_files
+  "msg/BagfileProgress.msg"
+  "msg/HistogramBucket.msg"
+  "msg/LandmarkEntry.msg"
+  "msg/LandmarkList.msg"
+  "msg/MetricFamily.msg"
+  "msg/MetricLabel.msg"
+  "msg/Metric.msg"
+  "msg/StatusCode.msg"
+  "msg/StatusResponse.msg"
+  "msg/SubmapEntry.msg"
+  "msg/SubmapList.msg"
+  "msg/SubmapTexture.msg"
+  "msg/TrajectoryStates.msg"
+)
+
+set(srv_files
+  "srv/FinishTrajectory.srv"
+  "srv/GetTrajectoryStates.srv"
+  "srv/ReadMetrics.srv"
+  "srv/StartTrajectory.srv"
+  "srv/TrajectoryQuery.srv"
+  "srv/SubmapQuery.srv"
+  "srv/WriteState.srv"
+)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  ${srv_files}
+  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
+  ADD_LINTER_TESTS
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()
@@ -0,0 +1,23 @@
+#
+# 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.
+
+
+# Contains general information about the bagfiles processing progress
+
+string current_bagfile_name
+uint32 current_bagfile_id
+uint32 total_bagfiles
+uint32 total_messages
+uint32 processed_messages
+float32 total_seconds
+float32 processed_seconds
@@ -0,0 +1,19 @@
+# 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.
+
+# A histogram bucket counts values x for which:
+#   previous_boundary < x <= bucket_boundary
+# holds.
+float64 bucket_boundary
+float64 count
@@ -0,0 +1,18 @@
+# 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.
+
+string id
+geometry_msgs/Pose tracking_from_landmark_transform
+float64 translation_weight
+float64 rotation_weight
@@ -0,0 +1,16 @@
+# 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.
+
+std_msgs/Header header
+cartographer_ros_msgs/LandmarkEntry[] landmarks
@@ -0,0 +1,26 @@
+# 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.
+
+uint8 TYPE_COUNTER=0
+uint8 TYPE_GAUGE=1
+uint8 TYPE_HISTOGRAM=2
+
+uint8 type
+cartographer_ros_msgs/MetricLabel[] labels
+
+# TYPE_COUNTER or TYPE_GAUGE
+float64 value
+
+# TYPE_HISTOGRAM
+cartographer_ros_msgs/HistogramBucket[] counts_by_bucket
@@ -0,0 +1,17 @@
+# 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.
+
+string name
+string description
+cartographer_ros_msgs/Metric[] metrics
@@ -0,0 +1,16 @@
+# 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.
+
+string key
+string value
@@ -0,0 +1,32 @@
+# 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.
+
+# Definition of status code constants equivalent to the gRPC API.
+# https://developers.google.com/maps-booking/reference/grpc-api/status_codes
+uint8 OK=0
+uint8 CANCELLED=1
+uint8 UNKNOWN=2
+uint8 INVALID_ARGUMENT=3
+uint8 DEADLINE_EXCEEDED=4
+uint8 NOT_FOUND=5
+uint8 ALREADY_EXISTS=6
+uint8 PERMISSION_DENIED=7
+uint8 RESOURCE_EXHAUSTED=8
+uint8 FAILED_PRECONDITION=9
+uint8 ABORTED=10
+uint8 OUT_OF_RANGE=11
+uint8 UNIMPLEMENTED=12
+uint8 INTERNAL=13
+uint8 UNAVAILABLE=14
+uint8 DATA_LOSS=15
@@ -0,0 +1,17 @@
+# 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.
+
+# A common message type to indicate the outcome of a service call.
+uint8 code
+string message
@@ -0,0 +1,19 @@
+# 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.
+
+int32 trajectory_id
+int32 submap_index
+int32 submap_version
+geometry_msgs/Pose pose
+bool is_frozen
@@ -0,0 +1,16 @@
+# 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.
+
+std_msgs/Header header
+cartographer_ros_msgs/SubmapEntry[] submap
@@ -0,0 +1,19 @@
+# Copyright 2017 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.
+
+uint8[] cells
+int32 width
+int32 height
+float64 resolution
+geometry_msgs/Pose slice_pose
@@ -0,0 +1,22 @@
+# 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.
+
+uint8 ACTIVE = 0
+uint8 FINISHED = 1
+uint8 FROZEN = 2
+uint8 DELETED = 3
+
+std_msgs/Header header
+int32[] trajectory_id
+uint8[] trajectory_state
@@ -0,0 +1,87 @@
+<?xml version="1.0"?>
+<!--
+  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.
+-->
+
+<package format="3">
+  <name>cartographer_ros_msgs</name>
+  <!--
+  As of 2022-03-31, the versioning for cartographer_ros is in a complicated situation.
+  Upstream https://github.com/cartographer-project/cartographer_ros seems to be moribund,
+  with no commits for close to a year.  The master branch there is only for ROS 1, and
+  that branch has not had a released tag since 1.0.0 in 2018.
+
+  In the meantime, we've done a port to ROS 2 in https://github.com/ros2/cartographer_ros
+  that targets upstream cartographer 2.0.0.
+
+  Since we have no response from upstream in a long time, we are going to go ahead and
+  assume that the 1.x series of tags from upstream cartographer_ros will always be used
+  to target ROS 1.  Further we are going to assume that the 2.x series of tags
+  from upstream cartographer_ros (none of which exist yet) will be used to target ROS 2.
+  If upstream comes alive and chooses a different versioning scheme, we can adjust later
+  as necessary.  The outcome of all of this is that we are assuming a starting "upstream"
+  release of 2.0.0, which then plays into the rest of the explanation below.
+
+  We add 900 to the patch part of the version and then multiply it by 10,
+  i.e. our version = `(upstream_patch_version + 900) * 10`,
+  so we can have intermediate releases as well as release any future official 2.0.x versions.
+
+  This is basically packing the patch part of the version and a fourth version part together
+  into the third part of the version.
+
+  The use of `900` instead of something else like `100` is arbitrary, but it might
+  help people recognize that this is a "special" version number.
+  It is needed however, because we cannot have a leading `0` in our patch version.
+
+  Consider these possible future versions as an example:
+
+  2.0.9000 -> current state of this repository, 2.0.0 + some commits from us
+  2.0.9010 -> upstream 2.0.1
+  2.0.9011 -> upstream 2.0.1 + additional commits from upstream or us
+  2.0.9012 -> upstream 2.0.1 + additional commits from 2.0.1011 + more new commits
+  2.0.9020 -> upstream 2.0.2
+  and so on...
+  -->
+  <version>2.0.9003</version>
+  <description>
+    ROS messages for the cartographer_ros package.
+  </description>
+  <maintainer email="clalancette@openrobotics.org">Chris Lalancette</maintainer>
+  <license>Apache 2.0</license>
+
+  <url>https://github.com/cartographer-project/cartographer_ros</url>
+
+  <author email="google-cartographer@googlegroups.com">
+    The Cartographer Authors
+  </author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
@@ -0,0 +1,17 @@
+# 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.
+
+int32 trajectory_id
+---
+cartographer_ros_msgs/StatusResponse status
@@ -0,0 +1,18 @@
+# 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.
+
+
+---
+cartographer_ros_msgs/StatusResponse status
+cartographer_ros_msgs/TrajectoryStates trajectory_states
@@ -0,0 +1,18 @@
+# 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.
+
+---
+cartographer_ros_msgs/StatusResponse status
+cartographer_ros_msgs/MetricFamily[] metric_families
+builtin_interfaces/Time timestamp
@@ -0,0 +1,22 @@
+# 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.
+
+string configuration_directory
+string configuration_basename
+bool use_initial_pose
+geometry_msgs/Pose initial_pose
+int32 relative_to_trajectory_id
+---
+cartographer_ros_msgs/StatusResponse status
+int32 trajectory_id
@@ -0,0 +1,20 @@
+# 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.
+
+int32 trajectory_id
+int32 submap_index
+---
+cartographer_ros_msgs/StatusResponse status
+int32 submap_version
+cartographer_ros_msgs/SubmapTexture[] textures
@@ -0,0 +1,18 @@
+# Copyright 2019 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.
+
+int32 trajectory_id
+---
+cartographer_ros_msgs/StatusResponse status
+geometry_msgs/PoseStamped[] trajectory
@@ -0,0 +1,18 @@
+# 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.
+
+string filename
+bool include_unfinished_submaps
+---
+cartographer_ros_msgs/StatusResponse status