feat(slam): add cartographer_ros

cartographer_ros/cartographer_ros_msgs/srv/FinishTrajectory.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/GetTrajectoryStates.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/ReadMetrics.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/StartTrajectory.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/SubmapQuery.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/TrajectoryQuery.srv

@@ -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

cartographer_ros/cartographer_ros_msgs/srv/WriteState.srv

@@ -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