feat:build

* update rules_boost to latest version (#1898)

Signed-off-by: Xùdōng Yáng <wyverald@gmail.com>
Signed-off-by: kscottz <katherineAScott@gmail.com>

* Add note for ROS users.

Signed-off-by: kscottz <katherineAScott@gmail.com>

* spelling errors.

Signed-off-by: kscottz <katherineAScott@gmail.com>

---------

Signed-off-by: Xùdōng Yáng <wyverald@gmail.com>
Signed-off-by: kscottz <katherineAScott@gmail.com>
Co-authored-by: Xùdōng Yáng <wyverald@gmail.com>

.github/workflows/ci-bullseye.yaml

@@ -0,0 +1,15 @@
+name: Debian Bullseye CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.bullseye

.github/workflows/ci-jammy.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 22.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.jammy

.gitignore

@@ -1,2 +1,3 @@
 build
 bazel-*
+/scripts/abseil-cpp/

CMakeLists.txt

@@ -29,6 +29,8 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
 google_initialize_cartographer_project()
 google_enable_testing()
 
+list(APPEND CMAKE_PREFIX_PATH "/usr/local/stow/absl")
+
 find_package(absl REQUIRED)
 set(BOOST_COMPONENTS iostreams)
 if(WIN32)
@@ -268,6 +270,41 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${PROTOBUF_INCLUDE_DIR})
 # TODO(hrapp): This should not explicitly list pthread and use
 # PROTOBUF_LIBRARIES, but that failed on first try.
+
+# 函数来递归查找库文件路径
+function(get_library_paths target)
+  get_target_property(LINK_LIBS ${target} INTERFACE_LINK_LIBRARIES)
+  if(NOT LINK_LIBS)
+    message(WARNING "Target ${target} has no INTERFACE_LINK_LIBRARIES")
+    return()
+  endif()
+  foreach(lib IN LISTS LINK_LIBS)
+    if(TARGET ${lib})
+      get_target_property(TYPE ${lib} TYPE)
+      if(TYPE STREQUAL "INTERFACE_LIBRARY")
+        get_library_paths(${lib})
+      elseif(TYPE STREQUAL "STATIC_LIBRARY" OR TYPE STREQUAL "SHARED_LIBRARY" OR TYPE STREQUAL "MODULE_LIBRARY")
+        get_target_property(LIB_PATH ${lib} LOCATION)
+        if(LIB_PATH)
+          message(STATUS "Library ${lib} is located at ${LIB_PATH}")
+        else()
+          message(WARNING "Library ${lib} has no LOCATION property")
+        endif()
+      endif()
+    else()
+      if("${lib}" MATCHES "-NOTFOUND$")
+        message(WARNING "Library ${lib} is NOTFOUND")
+      else()
+        message(STATUS "Linked library: ${lib}")
+      endif()
+    endif()
+  endforeach()
+endfunction()
+
+
+# 获取absl::base目标的实际库文件路径
+get_library_paths(absl::base)
+
 target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
   absl::algorithm
   absl::base

Dockerfile.bionic

@@ -22,7 +22,7 @@ ENV CC=$cc
 ENV CXX=$cxx
 
 # This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
-# when it would wait for user input. 
+# when it would wait for user input.
 RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
@@ -31,11 +31,5 @@ COPY scripts/install_abseil.sh cartographer/scripts/
 RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
-COPY scripts/install_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
-COPY scripts/install_async_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
-COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
-RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
 COPY . cartographer
-RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

Dockerfile.bionic.grpc

@@ -0,0 +1,41 @@
+# Copyright 2020 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.
+
+FROM ubuntu:bionic
+
+ARG cc
+ARG cxx
+
+# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
+ENV CC=$cc
+ENV CXX=$cxx
+
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input.
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs_cmake.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_proto3.sh cartographer/scripts/
+RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
+COPY scripts/install_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
+COPY scripts/install_async_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
+COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
+RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer

Dockerfile.bullseye

@@ -1,4 +1,4 @@
-# Copyright 2016 The Cartographer Authors
+# Copyright 2022 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.
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM debian:stretch
+FROM debian:bullseye
 
 ARG cc
 ARG cxx
@@ -26,11 +26,5 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_abseil.sh cartographer/scripts/
-RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
-COPY scripts/install_proto3.sh cartographer/scripts/
-RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY . cartographer
 RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

Dockerfile.focal

@@ -22,7 +22,7 @@ ENV CC=$cc
 ENV CXX=$cxx
 
 # This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
-# when it would wait for user input. 
+# when it would wait for user input.
 RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/

Dockerfile.jammy

@@ -0,0 +1,31 @@
+# Copyright 2020 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.
+
+FROM ubuntu:jammy
+
+ARG cc
+ARG cxx
+
+# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
+ENV CC=$cc
+ENV CXX=$cxx
+
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input.
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs_cmake.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

README.rst

@@ -16,7 +16,7 @@
 Cartographer
 ============
 
-|build| |docs| |license|
+|build-jammy| |build-focal| |build-bionic| |build-bullseye| |build-buster| |docs| |license|
 
 Purpose
 =======
@@ -30,6 +30,23 @@ configurations.
 .. _Cartographer: https://github.com/cartographer-project/cartographer
 .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
 
+A Note for ROS Users
+====================
+
+**Cartographer is no longer actively maintained.**
+On rare occasions critical pull requests may be merged, but no new development is currently taking place, including issue response.
+If you are installing Cartographer in ROS 1 / ROS 2 using a binary package that package is a fork of this repository.
+The ROS fork of Cartographer is only maintained in a limited capacity.
+No new development takes place on this fork, but pull requests may be merged at the maintainers' discretion.    
+
+The ROS fork of Cartographer, and the ROS wrapper library, can be found at these locations:
+
+- `Cartographer Fork <https://github.com/ros2/cartographer>`_
+- `Cartographer ROS  <https://github.com/ros2/cartographer_ros>`_
+
+Additional discussion can be found in `this ROS Discourse thread<https://discourse.ros.org/t/rolling-and-soon-humble-release-of-both-cartographer-and-cartographer-ros-v2-and-call-for-testing/25137>`_.  
+
+
 Getting started
 ===============
 
@@ -83,10 +100,26 @@ Slides of these Cartographer Open House meetings are listed below.
 - June 22, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170622/sildes.pdf>`_
 - June 8, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170608/slides.pdf>`_
 
-.. |build| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
+.. |build-jammy| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml/badge.svg
+    :alt: Ubuntu 22.04 Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml
+.. |build-focal| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
     :alt: Ubuntu 20.04 Build Status
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml
+.. |build-bionic| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml/badge.svg
+    :alt: Ubuntu 18.04 Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bionic.yaml
+.. |build-bullseye| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml/badge.svg
+    :alt: Debian Bullseye Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-bullseye.yaml
+.. |build-buster| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml/badge.svg
+    :alt: Debian Buster Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-buster.yaml
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%

bazel/repositories.bzl

@@ -20,11 +20,10 @@ def cartographer_repositories():
     _maybe(
         http_archive,
         name = "com_github_nelhage_rules_boost",
-        sha256 = "371f49e7b29e44a718baf8b9a2dd3eca865005a851c9ecf8fb6a10a715aa58dd",
+        sha256 = "f7d620c0061631d5b7685cd1065f2e2bf0768559555010a75e8e4720006f5867",
-        strip_prefix = "rules_boost-a5a95642f6097f8949020646ffe89d7243008981",
+        strip_prefix = "rules_boost-c3fae06e819ed8b93e31b150387dce4864758643",
         urls = [
-            "https://mirror.bazel.build/github.com/nelhage/rules_boost/archive/a5a95642f6097f8949020646ffe89d7243008981.tar.gz",
+            "https://github.com/nelhage/rules_boost/archive/c3fae06e819ed8b93e31b150387dce4864758643.tar.gz",
-            "https://github.com/nelhage/rules_boost/archive/a5a95642f6097f8949020646ffe89d7243008981.tar.gz",
         ],
     )
 

cartographer/mapping/internal/optimization/optimization_problem_3d.cc

@@ -374,6 +374,8 @@ void OptimizationProblem3D::Solve(
 
       auto imu_it = imu_data.begin();
       auto prev_node_it = node_it;
+
+      bool gravity_block_added = false;
       for (++node_it; node_it != trajectory_end; ++node_it) {
         const NodeId first_node_id = prev_node_it->id;
         const NodeSpec3D& first_node_data = prev_node_it->data;
@@ -432,6 +434,7 @@ void OptimizationProblem3D::Solve(
               C_nodes.at(third_node_id).translation(),
               &trajectory_data.gravity_constant,
               trajectory_data.imu_calibration.data());
+          gravity_block_added = true;
         }
         problem.AddResidualBlock(
             RotationCostFunction3D::CreateAutoDiffCostFunction(
@@ -442,8 +445,11 @@ void OptimizationProblem3D::Solve(
             trajectory_data.imu_calibration.data());
       }
 
-      // Force gravity constant to be positive.
+      if (gravity_block_added) {
-      problem.SetParameterLowerBound(&trajectory_data.gravity_constant, 0, 0.0);
+        // Force gravity constant to be positive.
+        problem.SetParameterLowerBound(&trajectory_data.gravity_constant, 0,
+                                       0.0);
+      }
     }
   }
 

cmake/functions.cmake

@@ -22,7 +22,7 @@ macro(_parse_arguments ARGS)
     "${OPTIONS}" "${ONE_VALUE_ARG}" "${MULTI_VALUE_ARGS}" ${ARGS})
 endmacro(_parse_arguments)
 
-macro(_common_compile_stuff VISIBILITY)
+macro(_common_compile_stuff)
   set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}")
 
   set_target_properties(${NAME} PROPERTIES
@@ -34,7 +34,7 @@ endmacro(_common_compile_stuff)
 
 function(google_test NAME ARG_SRC)
   add_executable(${NAME} ${ARG_SRC})
-  _common_compile_stuff("PRIVATE")
+  _common_compile_stuff()
 
   # Make sure that gmock always includes the correct gtest/gtest.h.
   target_include_directories("${NAME}" SYSTEM PRIVATE
@@ -49,7 +49,7 @@ function(google_binary NAME)
 
   add_executable(${NAME} ${ARG_SRCS})
 
-  _common_compile_stuff("PRIVATE")
+  _common_compile_stuff()
 
   install(TARGETS "${NAME}" RUNTIME DESTINATION bin)
 endfunction()

configuration_files/trajectory_builder_3d.lua

@@ -106,7 +106,7 @@ TRAJECTORY_BUILDER_3D = {
     },
   },
 
-  -- When setting use_intensites to true, the intensity_cost_function_options_0
+  -- When setting use_intensities to true, the intensity_cost_function_options_0
   -- parameter in ceres_scan_matcher has to be set up as well or otherwise
   -- CeresScanMatcher will CHECK-fail.
   use_intensities = false,

docs/source/index.rst

@@ -75,10 +75,6 @@ On Ubuntu 18.04 (Bionic):
   :language: bash
   :lines: 20-
 
-.. literalinclude:: ../../scripts/install_ceres.sh
-  :language: bash
-  :lines: 20-
-
 .. literalinclude:: ../../scripts/install_proto3.sh
   :language: bash
   :lines: 20-
@@ -97,8 +93,8 @@ on systems that meet the following requirements:
 
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
-* Ubuntu 18.04 (Bionic), 20.04 (Focal)
+* Ubuntu 18.04 (Bionic), 20.04 (Focal), 22.04 (Jammy)
-* gcc version 6.3.0, 7.5.0, 9.3.0
+* gcc version 7.5.0, 8.3.0, 9.3.0, 10.2.1, 11.2.0
 
 Known Issues
 ------------

package.xml

@@ -43,7 +43,6 @@
 
   <depend>libboost-iostreams-dev</depend>
   <depend>eigen</depend>
-  <depend>libabsl-dev</depend>
   <depend>libcairo2-dev</depend>
   <depend>libceres-dev</depend>
   <depend>libgflags-dev</depend>

scripts/install_abseil.sh

@@ -19,7 +19,7 @@ set -o verbose
 
 git clone https://github.com/abseil/abseil-cpp.git
 cd abseil-cpp
-git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+git checkout 215105818dfde3174fe799600bb0f3cae233d0bf # 20211102.0
 mkdir build
 cd build
 cmake -G Ninja \

scripts/install_ceres.sh

@@ -1,31 +0,0 @@
-#!/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
-
-VERSION="1.13.0"
-
-# Build and install Ceres.
-git clone https://ceres-solver.googlesource.com/ceres-solver
-cd ceres-solver
-git checkout tags/${VERSION}
-mkdir build
-cd build
-cmake .. -G Ninja -DCXX11=ON
-ninja
-CTEST_OUTPUT_ON_FAILURE=1 ninja test
-sudo ninja install

scripts/install_debs_cmake.sh

@@ -27,6 +27,7 @@ sudo apt-get install -y \
     google-mock \
     libboost-all-dev \
     libcairo2-dev \
+    libceres-dev \
     libcurl4-openssl-dev \
     libeigen3-dev \
     libgflags-dev \
@@ -35,19 +36,16 @@ sudo apt-get install -y \
     libsuitesparse-dev \
     lsb-release \
     ninja-build \
+    python3-sphinx \
     stow
 
-# Install Ceres Solver and Protocol Buffers support if available.
+# Install Protocol Buffers and Abseil if available.
 # No need to build it ourselves.
-if [[ "$(lsb_release -sc)" = "focal" || "$(lsb_release -sc)" = "buster" ]]
+case "$(lsb_release -sc)" in
-then
+    jammy|bullseye)
-  sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler
+        sudo apt-get install -y libgmock-dev protobuf-compiler libabsl-dev ;;
-else
+    focal|buster)
-  sudo apt-get install -y python-sphinx
+        sudo apt-get install -y libgmock-dev protobuf-compiler ;;
-  if [[ "$(lsb_release -sc)" = "bionic" ]]
+    bionic)
-  then
+        ;;
-    sudo apt-get install -y libceres-dev
+esac
-  fi
-fi
-
-