feat(slam): add cartographer_ros

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