feat(slam): add cartographer_ros

cartographer_ros/cartographer_ros_msgs/msg/BagfileProgress.msg

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+#
+# 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

cartographer_ros/cartographer_ros_msgs/msg/HistogramBucket.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/LandmarkEntry.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/LandmarkList.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/Metric.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/MetricFamily.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/MetricLabel.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/StatusCode.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/StatusResponse.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/SubmapEntry.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/SubmapList.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/SubmapTexture.msg

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+# 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

cartographer_ros/cartographer_ros_msgs/msg/TrajectoryStates.msg

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+# 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