feat(slam): add cartographer_ros

cartographer_ros/scripts/catkin_test_results.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# 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.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+cd catkin_ws
+catkin_test_results $@

cartographer_ros/scripts/check_access_token.sh

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Usage: ./check_access_token.sh ACCESS_TOKEN
+# Returns non-zero exit code if ACCESS_TOKEN is invalid.
+
+if [ "$#" -ne 1 ]; then
+  echo "Please provide an access token to $0" 1>&2
+  exit 1
+fi
+token=$1
+
+set -e
+function on_error {
+  echo "Failed to validate GitHub access token!" 1>&2
+  exit 1
+}
+trap on_error ERR
+
+test_response=$(curl -s https://api.github.com/?access_token=${token})
+
+echo $test_response | grep -ivq "bad credentials"
+echo $"GitHub access token is valid."

cartographer_ros/scripts/install.sh

@@ -0,0 +1,32 @@
+#!/bin/bash
+
+# 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.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+cd catkin_ws
+
+# Build, install, and test.
+#
+# It's necessary to use the '--install' flag for every call to
+# 'catkin_make_isolated' in order to avoid the use of 'devel_isolated' as the
+# 'CMAKE_INSTALL_PREFIX' for non-test targets. This in itself is important to
+# avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the
+# configuration phase of the build (e.g. cartographer/common/config.h.cmake).
+export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install"
+catkin_make_isolated ${BUILD_FLAGS} $@

cartographer_ros/scripts/install_debs.sh

@@ -0,0 +1,39 @@
+#!/bin/bash
+
+# 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.
+
+set -o errexit
+set -o verbose
+
+# Install CMake, Ninja, stow.
+sudo apt-get update
+sudo apt-get install -y lsb-release cmake ninja-build stow
+
+# Install GMock library and header files for newer distributions.
+if [[ "$(lsb_release -sc)" = "focal" || "$(lsb_release -sc)" = "buster" ]]
+then
+  sudo apt-get install -y libgmock-dev
+fi
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+cd catkin_ws
+
+# Install rosdep dependencies.
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+# Update rosconsole-bridge to fix build issue with Docker image for Kinetic
+sudo apt-get install ros-${ROS_DISTRO}-rosconsole-bridge -y

cartographer_ros/scripts/load_docker_cache.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# 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.
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+
+set -o errexit
+set -o verbose
+set -o pipefail
+
+if [ -f ${DOCKER_CACHE_FILE} ]; then
+  gunzip -c ${DOCKER_CACHE_FILE} | docker load;
+fi

cartographer_ros/scripts/prepare_catkin_workspace.sh

@@ -0,0 +1,35 @@
+#!/bin/sh
+
+# 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.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+# Create a new workspace in 'catkin_ws'.
+mkdir -p catkin_ws/src
+cd catkin_ws/src
+wstool init
+
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge ../../cartographer_ros/cartographer_ros.rosinstall
+# We default to master and wstool seems to have a bug when it's being set twice.
+# TODO(MichaelGrupp): wstool is unmaintained, use vcstool.
+if [ ${CARTOGRAPHER_VERSION} != "master" ]; then
+  wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y
+fi
+wstool remove cartographer_ros
+wstool update

cartographer_ros/scripts/prepare_jenkins_catkin_workspace.sh

@@ -0,0 +1,33 @@
+#!/bin/sh
+
+# 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.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+# Create a new workspace in 'catkin_ws'.
+mkdir -p catkin_ws/src
+cd catkin_ws/src
+wstool init
+
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge ../../cartographer_ros/cartographer_ros.rosinstall
+wstool merge -y https://raw.githubusercontent.com/cartographer-project/cartographer_fetch/master/cartographer_fetch.rosinstall
+wstool merge -y https://raw.githubusercontent.com/magazino/cartographer_magazino/master/cartographer_magazino.rosinstall
+wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y
+wstool remove cartographer_ros
+wstool update

cartographer_ros/scripts/ros_entrypoint.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+# 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.
+
+set -o errexit
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source "/opt/cartographer_ros/setup.bash"
+exec "$@"

cartographer_ros/scripts/save_docker_cache.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+# 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.
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+
+set -o errexit
+set -o verbose
+set -o pipefail
+
+if [[ ${TRAVIS_BRANCH} == "master" ]] &&
+    [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then
+  mkdir -p $(dirname ${DOCKER_CACHE_FILE})
+  IMAGE_NAMES=$(docker history -q cartographer_ros:${ROS_RELEASE} | grep -v '<missing>')
+  docker save ${IMAGE_NAMES} | gzip > ${DOCKER_CACHE_FILE}.new
+  mv ${DOCKER_CACHE_FILE}.new ${DOCKER_CACHE_FILE}
+fi