m5p3nc3r/agv_pro_ros2
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

feat(slam): add cartographer_ros

Browse Source
This commit is contained in:
X-lanni
2025-07-04 14:39:48 +08:00
parent df9cee5779
commit 5cf886315d
825 changed files with 92220 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cartographer_ros/cartographer_rviz/package.xml
+89
View File
@@ -0,0 +1,89 @@
<?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_rviz</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>
Cartographer is a system that provides real-time simultaneous localization
and mapping (SLAM) in 2D and 3D across multiple platforms and sensor
configurations. This package provides Cartographer's RViz integration.
</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>
<depend>cartographer</depend>
<depend>cartographer_ros</depend>
<depend>cartographer_ros_msgs</depend>
<depend>eigen</depend>
<depend>libabsl-dev</depend>
<depend>pluginlib</depend>
<depend>rclcpp</depend>
<depend>rviz_common</depend>
<depend>rviz_ogre_vendor</depend>
<depend>rviz_rendering</depend>
<export>
<build_type>ament_cmake</build_type>
<rviz plugin="rviz_plugin_description.xml" />
</export>
</package>