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Fix build status on front page. (#1483) 

* Fix build status on front page.

Changes "googlecartographer" to "cartographer-project"
for references to CI and GitHub.

Following cartographer-project/cartographer#1693.

Signed-off-by: Wolfgang Hess <whess@lyft.com>

* Remove Indigo and Lunar Dockerfiles.
master
Wolfgang Hess 2020-06-24 10:55:03 +02:00 committed by GitHub
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76
Dockerfile.indigo
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@ -1,76 +0,0 @@
# 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.
FROM ros:indigo
ARG CARTOGRAPHER_VERSION=master
# We require a GitHub access token to be passed.
ARG github_token
# First, we invalidate the entire cache if googlecartographer/cartographer has
# changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
cartographer_ros/cartographer_version.json
# wstool needs the updated rosinstall file to clone the correct repos.
COPY cartographer_ros.rosinstall cartographer_ros/
COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
cartographer_ros/scripts/prepare_catkin_workspace.sh
# rosdep needs the updated package.xml files to install the correct debs.
COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
COPY scripts/install_debs.sh cartographer_ros/scripts/
RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
# Install proto3.
RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
# Build, install, and test all packages individually to allow caching. The
# ordering of these steps must match the topological package ordering as
# determined by Catkin.
COPY scripts/install.sh cartographer_ros/scripts/
COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
cartographer_ros/scripts/install.sh --pkg cartographer_ros \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
COPY scripts/ros_entrypoint.sh /
# A BTRFS bug may prevent us from cleaning up these directories.
# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
RUN rm -rf cartographer_ros catkin_ws || true

4
Dockerfile.kinetic
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@ -22,10 +22,10 @@ ARG github_token
# Xenial's base image doesn't ship with sudo. # Xenial's base image doesn't ship with sudo.
RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/* RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
# First, we invalidate the entire cache if googlecartographer/cartographer has # First, we invalidate the entire cache if cartographer-project/cartographer has
# changed. This file's content changes whenever master changes. See: # changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \ ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
cartographer_ros/cartographer_version.json cartographer_ros/cartographer_version.json
# wstool needs the updated rosinstall file to clone the correct repos. # wstool needs the updated rosinstall file to clone the correct repos.

79
Dockerfile.lunar
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@ -1,79 +0,0 @@
# 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.
FROM ros:lunar
ARG CARTOGRAPHER_VERSION=master
# We require a GitHub access token to be passed.
ARG github_token
# Xenial's base image doesn't ship with sudo.
RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
# First, we invalidate the entire cache if googlecartographer/cartographer has
# changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
cartographer_ros/cartographer_version.json
# wstool needs the updated rosinstall file to clone the correct repos.
COPY cartographer_ros.rosinstall cartographer_ros/
COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
cartographer_ros/scripts/prepare_catkin_workspace.sh
# rosdep needs the updated package.xml files to install the correct debs.
COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
COPY scripts/install_debs.sh cartographer_ros/scripts/
RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
# Install proto3.
RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
# Build, install, and test all packages individually to allow caching. The
# ordering of these steps must match the topological package ordering as
# determined by Catkin.
COPY scripts/install.sh cartographer_ros/scripts/
COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
cartographer_ros/scripts/install.sh --pkg cartographer_ros \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
--catkin-make-args run_tests && \
cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
COPY scripts/ros_entrypoint.sh /
# A BTRFS bug may prevent us from cleaning up these directories.
# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
RUN rm -rf cartographer_ros catkin_ws || true

4
Dockerfile.melodic
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@ -22,10 +22,10 @@ ARG github_token
# Bionic's base image doesn't ship with sudo. # Bionic's base image doesn't ship with sudo.
RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/* RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
# First, we invalidate the entire cache if googlecartographer/cartographer has # First, we invalidate the entire cache if cartographer-project/cartographer has
# changed. This file's content changes whenever master changes. See: # changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \ ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
cartographer_ros/cartographer_version.json cartographer_ros/cartographer_version.json
# wstool needs the updated rosinstall file to clone the correct repos. # wstool needs the updated rosinstall file to clone the correct repos.

12
README.rst
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@ -25,7 +25,7 @@ Purpose
and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
configurations. This project provides Cartographer's ROS integration. configurations. This project provides Cartographer's ROS integration.
.. _Cartographer: https://github.com/googlecartographer/cartographer .. _Cartographer: https://github.com/cartographer-project/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
Getting started Getting started
@ -35,7 +35,7 @@ Getting started
* You can ask a question by `creating an issue`_. * You can ask a question by `creating an issue`_.
.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io .. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io
.. _creating an issue: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question .. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
Contributing Contributing
============ ============
@ -43,12 +43,12 @@ Contributing
You can find information about contributing to Cartographer's ROS integration You can find information about contributing to Cartographer's ROS integration
at `our Contribution page`_. at `our Contribution page`_.
.. _our Contribution page: https://github.com/googlecartographer/cartographer_ros/blob/master/CONTRIBUTING.md .. _our Contribution page: https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md
.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_ros.svg?branch=master .. |build| image:: https://travis-ci.org/cartographer-project/cartographer_ros.svg?branch=master
:alt: Build Status :alt: Build Status
:scale: 100% :scale: 100%
:target: https://travis-ci.org/googlecartographer/cartographer_ros :target: https://travis-ci.org/cartographer-project/cartographer_ros
.. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest .. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
:alt: Documentation Status :alt: Documentation Status
:scale: 100% :scale: 100%
@ -56,5 +56,5 @@ at `our Contribution page`_.
.. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg .. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
:alt: Apache 2 license. :alt: Apache 2 license.
:scale: 100% :scale: 100%
:target: https://github.com/googlecartographer/cartographer_ros/blob/master/LICENSE :target: https://github.com/cartographer-project/cartographer_ros/blob/master/LICENSE

2
azure-pipelines.yml
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@ -25,7 +25,7 @@ jobs:
choco upgrade %ROS_METAPACKAGE% -y choco upgrade %ROS_METAPACKAGE% -y
choco upgrade ros-melodic-perception -y choco upgrade ros-melodic-perception -y
robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL
git clone https://github.com/googlecartographer/cartographer src\cartographer git clone https://github.com/cartographer-project/cartographer src\cartographer
call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
env: env:
ROS_METAPACKAGE: 'ros-melodic-desktop' ROS_METAPACKAGE: 'ros-melodic-desktop'

4
cartographer_ros.rosinstall
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@ -1,3 +1,3 @@
- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git', version: '1.0.0'} - git: {local-name: cartographer, uri: 'https://github.com/cartographer-project/cartographer.git', version: '1.0.0'}
- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git', version: '1.0.0'} - git: {local-name: cartographer_ros, uri: 'https://github.com/cartographer-project/cartographer_ros.git', version: '1.0.0'}
- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.13.0'} - git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.13.0'}

2
cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
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@ -87,7 +87,7 @@ options = {
-- We also write a PLY file at this stage, because gray points look good. -- We also write a PLY file at this stage, because gray points look good.
-- The points in the PLY can be visualized using -- The points in the PLY can be visualized using
-- https://github.com/googlecartographer/point_cloud_viewer. -- https://github.com/cartographer-project/point_cloud_viewer.
{ {
action = "write_ply", action = "write_ply",
filename = "points.ply", filename = "points.ply",

2
cartographer_ros/package.xml
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@ -28,7 +28,7 @@
</maintainer> </maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<url>https://github.com/googlecartographer/cartographer_ros</url> <url>https://github.com/cartographer-project/cartographer_ros</url>
<author email="google-cartographer@googlegroups.com"> <author email="google-cartographer@googlegroups.com">
The Cartographer Authors The Cartographer Authors

2
cartographer_ros_msgs/package.xml
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@ -26,7 +26,7 @@
</maintainer> </maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<url>https://github.com/googlecartographer/cartographer_ros</url> <url>https://github.com/cartographer-project/cartographer_ros</url>
<author email="google-cartographer@googlegroups.com"> <author email="google-cartographer@googlegroups.com">
The Cartographer Authors The Cartographer Authors

2
cartographer_rviz/package.xml
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@ -28,7 +28,7 @@
</maintainer> </maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<url>https://github.com/googlecartographer/cartographer_ros</url> <url>https://github.com/cartographer-project/cartographer_ros</url>
<author email="google-cartographer@googlegroups.com"> <author email="google-cartographer@googlegroups.com">
The Cartographer Authors The Cartographer Authors

2
cartographer_rviz/rviz_plugin_description.xml
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@ -20,7 +20,7 @@
base_class_type="rviz::Display"> base_class_type="rviz::Display">
<description> <description>
Displays submaps as a unified map in RViz. Displays submaps as a unified map in RViz.
https://github.com/googlecartographer/cartographer_ros https://github.com/cartographer-project/cartographer_ros
</description> </description>
</class> </class>
</library> </library>

10
docs/source/algo_walkthrough.rst
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@ -31,8 +31,8 @@ IEEE, 2016. pp. 1271–1278.
Overview Overview
-------- --------
.. image:: https://raw.githubusercontent.com/googlecartographer/cartographer/master/docs/source/high_level_system_overview.png .. image:: https://raw.githubusercontent.com/cartographer-project/cartographer/master/docs/source/high_level_system_overview.png
:target: https://github.com/googlecartographer/cartographer/blob/master/docs/source/high_level_system_overview.png :target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
Cartographer can be seen as two separate, but related subsystems. Cartographer can be seen as two separate, but related subsystems.
The first one is **local SLAM** (sometimes also called **frontend** or local trajectory builder). The first one is **local SLAM** (sometimes also called **frontend** or local trajectory builder).
@ -40,8 +40,8 @@ Its job is to build a succession of **submaps**.
Each submap is meant to be locally consistent but we accept that local SLAM drifts over time. Each submap is meant to be locally consistent but we accept that local SLAM drifts over time.
Most of the local SLAM options can be found in `install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua`_ for 2D and `install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua`_ for 3D. (for the rest of this page we will refer to `TRAJECTORY_BUILDER_nD` for the common options) Most of the local SLAM options can be found in `install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua`_ for 2D and `install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua`_ for 3D. (for the rest of this page we will refer to `TRAJECTORY_BUILDER_nD` for the common options)
.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua .. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua .. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
The other subsystem is **global SLAM** (sometimes called the **backend**). The other subsystem is **global SLAM** (sometimes called the **backend**).
It runs in background threads and its main job is to find **loop closure constraints**. It runs in background threads and its main job is to find **loop closure constraints**.
@ -50,7 +50,7 @@ It also incorporates other sensor data to get a higher level view and identify t
In 3D, it also tries to find the direction of gravity. In 3D, it also tries to find the direction of gravity.
Most of its options can be found in `install_isolated/share/cartographer/configuration_files/pose_graph.lua`_ Most of its options can be found in `install_isolated/share/cartographer/configuration_files/pose_graph.lua`_
.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua .. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
On a higher abstraction, the job of local SLAM is to generate good submaps and the job of global SLAM is to tie them most consistently together. On a higher abstraction, the job of local SLAM is to generate good submaps and the job of global SLAM is to tie them most consistently together.

20
docs/source/assets_writer.rst
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@ -66,7 +66,7 @@ When running as an online node, Cartographer doesn't know when your bag (or sens
Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack: Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack:
.. _sample pipeline: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua .. _sample pipeline: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
.. code-block:: bash .. code-block:: bash
@ -83,17 +83,17 @@ Configuration
The assets writer is modeled as a pipeline of `PointsProcessor`_s. The assets writer is modeled as a pipeline of `PointsProcessor`_s.
`PointsBatch`_\ s flow through each processor and they all have the chance to modify the ``PointsBatch`` before passing it on. `PointsBatch`_\ s flow through each processor and they all have the chance to modify the ``PointsBatch`` before passing it on.
.. _PointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h .. _PointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h
.. _PointsBatch: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h .. _PointsBatch: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h
For example the `assets_writer_backpack_3d.lua`_ pipeline uses ``min_max_range_filter`` to remove points that are either too close or too far from the sensor. For example the `assets_writer_backpack_3d.lua`_ pipeline uses ``min_max_range_filter`` to remove points that are either too close or too far from the sensor.
After this, it saves "*X-Rays*" (translucent side views of the map), then recolors the ``PointsBatch``\ s depending on the sensor frame ids and writes another set of X-Rays using these new colors. After this, it saves "*X-Rays*" (translucent side views of the map), then recolors the ``PointsBatch``\ s depending on the sensor frame ids and writes another set of X-Rays using these new colors.
.. _assets_writer_backpack_3d.lua: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua .. _assets_writer_backpack_3d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_3d.lua
The available ``PointsProcessor``\ s are all defined in the `cartographer/io`_ sub-directory and documented in their individual header files. The available ``PointsProcessor``\ s are all defined in the `cartographer/io`_ sub-directory and documented in their individual header files.
.. _cartographer/io: https://github.com/googlecartographer/cartographer/tree/f1ac8967297965b8eb6f2f4b08a538e052b5a75b/cartographer/io .. _cartographer/io: https://github.com/cartographer-project/cartographer/tree/f1ac8967297965b8eb6f2f4b08a538e052b5a75b/cartographer/io
* **color_points**: Colors points with a fixed color by frame_id. * **color_points**: Colors points with a fixed color by frame_id.
* **dump_num_points**: Passes through points, but keeps track of how many points it saw and output that on Flush. * **dump_num_points**: Passes through points, but keeps track of how many points it saw and output that on Flush.
@ -115,18 +115,18 @@ First-person visualization of point clouds
Two ``PointsProcessor``\ s are of particular interest: ``pcd_writing`` and ``ply_writing`` can save a point cloud in a ``.pcd`` or ``.ply`` file format. Two ``PointsProcessor``\ s are of particular interest: ``pcd_writing`` and ``ply_writing`` can save a point cloud in a ``.pcd`` or ``.ply`` file format.
These file formats can then be used by specialized software such as `point_cloud_viewer`_ or `meshlab`_ to navigate through the high resolution map. These file formats can then be used by specialized software such as `point_cloud_viewer`_ or `meshlab`_ to navigate through the high resolution map.
.. _point_cloud_viewer: https://github.com/googlecartographer/point_cloud_viewer .. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
.. _meshlab: http://www.meshlab.net/ .. _meshlab: http://www.meshlab.net/
The typical assets writer pipeline for this outcome is composed of an IntensityToColorPointsProcessor_ giving points a non-white color, then a PlyWritingPointsProcessor_ exporting the results to a ``.ply`` point cloud. The typical assets writer pipeline for this outcome is composed of an IntensityToColorPointsProcessor_ giving points a non-white color, then a PlyWritingPointsProcessor_ exporting the results to a ``.ply`` point cloud.
An example of such a pipeline is in `assets_writer_backpack_2d.lua`_. An example of such a pipeline is in `assets_writer_backpack_2d.lua`_.
.. _IntensityToColorPointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc .. _IntensityToColorPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc
.. _PlyWritingPointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h .. _PlyWritingPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h
.. _assets_writer_backpack_2d.lua: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua .. _assets_writer_backpack_2d.lua: https://github.com/cartographer-project/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
Once you have the ``.ply``, follow the README of `point_cloud_viewer`_ to generate an on-disk octree data structure which can be viewed by one of the viewers (SDL or web based) in the same repo. Once you have the ``.ply``, follow the README of `point_cloud_viewer`_ to generate an on-disk octree data structure which can be viewed by one of the viewers (SDL or web based) in the same repo.
.. _point_cloud_viewer: https://github.com/googlecartographer/point_cloud_viewer .. _point_cloud_viewer: https://github.com/cartographer-project/point_cloud_viewer
.. image:: point_cloud_viewer_demo_3d.jpg .. image:: point_cloud_viewer_demo_3d.jpg

4
docs/source/compilation.rst
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@ -23,9 +23,7 @@ The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
The following `ROS distributions`_ are currently supported: The following `ROS distributions`_ are currently supported:
* Indigo
* Kinetic * Kinetic
* Lunar
* Melodic * Melodic
.. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements .. _the ones from Cartographer: https://google-cartographer.readthedocs.io/en/latest/#system-requirements
@ -50,7 +48,7 @@ Create a new cartographer_ros workspace in 'catkin_ws'.
mkdir catkin_ws mkdir catkin_ws
cd catkin_ws cd catkin_ws
wstool init src wstool init src
wstool merge -t src https://raw.githubusercontent.com/googlecartographer/cartographer_ros/master/cartographer_ros.rosinstall wstool merge -t src https://raw.githubusercontent.com/cartographer-project/cartographer_ros/master/cartographer_ros.rosinstall
wstool update -t src wstool update -t src
Install cartographer_ros' dependencies (proto3 and deb packages). Install cartographer_ros' dependencies (proto3 and deb packages).

4
docs/source/configuration.rst
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@ -130,6 +130,6 @@ landmarks_sampling_ratio
.. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html .. _sensor_msgs/MultiEchoLaserScan: http://docs.ros.org/api/sensor_msgs/html/msg/MultiEchoLaserScan.html
.. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html .. _sensor_msgs/PointCloud2: http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
.. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html .. _sensor_msgs/NavSatFix: http://docs.ros.org/api/sensor_msgs/html/msg/NavSatFix.html
.. _cartographer_ros_msgs/LandmarkList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg .. _cartographer_ros_msgs/LandmarkList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/LandmarkList.msg
.. _cartographer_ros_msgs/LandmarkEntry: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg .. _cartographer_ros_msgs/LandmarkEntry: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
.. _tf2: http://wiki.ros.org/tf2 .. _tf2: http://wiki.ros.org/tf2

2
docs/source/faq.rst
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@ -33,7 +33,7 @@ incorporates motion estimation by combining constant velocity and IMU
measurements, for matching. Since there are two VLP-16s, 160 UDP packets is measurements, for matching. Since there are two VLP-16s, 160 UDP packets is
enough for roughly 2 revolutions, one per VLP-16. enough for roughly 2 revolutions, one per VLP-16.
__ https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/configuration_files/backpack_3d.lua __ https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/configuration_files/backpack_3d.lua
Why is IMU data required for 3D SLAM but not for 2D? Why is IMU data required for 3D SLAM but not for 2D?
---------------------------------------------------- ----------------------------------------------------

8
docs/source/getting_involved.rst
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@ -32,15 +32,15 @@ If you want to stay tuned with announcements (such as new major releases or new
If you think you've found an issue in Cartographer, you are welcome to open a `GitHub issue`_ but don't forget to provide a way to reproduce your bug! If you think you've found an issue in Cartographer, you are welcome to open a `GitHub issue`_ but don't forget to provide a way to reproduce your bug!
Typically, join a ``.bag`` and a link to a fork of the ``cartographer_ros`` repository containing your configuration and launch files. Typically, join a ``.bag`` and a link to a fork of the ``cartographer_ros`` repository containing your configuration and launch files.
.. _GitHub issue: https://github.com/googlecartographer/cartographer/issues .. _GitHub issue: https://github.com/cartographer-project/cartographer/issues
If you have an idea of a significant change that should be documented and discussed before finding its way into Cartographer, you should submit it as a pull request to `the RFCs repository`_ first. If you have an idea of a significant change that should be documented and discussed before finding its way into Cartographer, you should submit it as a pull request to `the RFCs repository`_ first.
Simpler changes can also be discussed in GitHub issues so that developers can help you get things right from the first try. Simpler changes can also be discussed in GitHub issues so that developers can help you get things right from the first try.
.. _the RFCs repository: https://github.com/googlecartographer/rfcs .. _the RFCs repository: https://github.com/cartographer-project/rfcs
If you want to contribute code or documentation, this is done through `GitHub pull requests`_. If you want to contribute code or documentation, this is done through `GitHub pull requests`_.
However, make sure you have signed (online) the `Contributor License Agreement`_ first! However, make sure you have signed (online) the `Contributor License Agreement`_ first!
.. _GitHub pull requests: https://github.com/googlecartographer/cartographer/pulls .. _GitHub pull requests: https://github.com/cartographer-project/cartographer/pulls
.. _Contributor License Agreement: https://github.com/googlecartographer/cartographer/blob/master/CONTRIBUTING.md .. _Contributor License Agreement: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md

2
docs/source/going_further.rst
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@ -42,7 +42,7 @@ For landmarks publishing on a ``cartographer_ros_msgs/LandmarkList`` (`message d
use_landmarks = true use_landmarks = true
.. _message defined in cartographer_ros: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg .. _message defined in cartographer_ros: https://github.com/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkList.msg
Localization only Localization only
================= =================

2
docs/source/index.rst
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@ -38,5 +38,5 @@ configurations. This project provides Cartographer's ROS integration.
data data
faq faq
.. _Cartographer: https://github.com/googlecartographer/cartographer .. _Cartographer: https://github.com/cartographer-project/cartographer
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping .. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping

26
docs/source/ros_api.rst
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@ -23,7 +23,7 @@ Cartographer Node
The `cartographer_node`_ is the SLAM node used for online, real-time SLAM. The `cartographer_node`_ is the SLAM node used for online, real-time SLAM.
.. _cartographer_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc .. _cartographer_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/node_main.cc
Command-line Flags Command-line Flags
------------------ ------------------
@ -139,14 +139,14 @@ If *provide_odom_frame* is enabled in the :doc:`configuration`, a continuous
.. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher .. _robot_state_publisher: http://wiki.ros.org/robot_state_publisher
.. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher .. _static_transform_publisher: http://wiki.ros.org/tf#static_transform_publisher
.. _cartographer_ros_msgs/FinishTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv .. _cartographer_ros_msgs/FinishTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/FinishTrajectory.srv
.. _cartographer_ros_msgs/SubmapList: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg .. _cartographer_ros_msgs/SubmapList: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
.. _cartographer_ros_msgs/SubmapQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv .. _cartographer_ros_msgs/SubmapQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/SubmapQuery.srv
.. _cartographer_ros_msgs/StartTrajectory: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv .. _cartographer_ros_msgs/StartTrajectory: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.srv
.. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv .. _cartographer_ros_msgs/TrajectoryQuery: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/TrajectoryQuery.srv
.. _cartographer_ros_msgs/WriteState: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv .. _cartographer_ros_msgs/WriteState: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.srv
.. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv .. _cartographer_ros_msgs/GetTrajectoryStates: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/GetTrajectoryStates.srv
.. _cartographer_ros_msgs/ReadMetrics: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv .. _cartographer_ros_msgs/ReadMetrics: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.srv
.. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html .. _nav_msgs/OccupancyGrid: http://docs.ros.org/api/nav_msgs/html/msg/OccupancyGrid.html
.. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html .. _nav_msgs/Odometry: http://docs.ros.org/api/nav_msgs/html/msg/Odometry.html
.. _sensor_msgs/Imu: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html .. _sensor_msgs/Imu: http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html
@ -164,7 +164,7 @@ In all other regards, it behaves like the ``cartographer_node``.
Each bag will become a separate trajectory in the final state. Each bag will become a separate trajectory in the final state.
Once it is done processing all data, it writes out the final Cartographer state and exits. Once it is done processing all data, it writes out the final Cartographer state and exits.
.. _offline_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc .. _offline_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/offline_node_main.cc
Published Topics Published Topics
@ -176,7 +176,7 @@ In addition to the topics that are published by the online node, this node also
Bag files processing progress including detailed information about the bag currently being processed which will be published with a predefined Bag files processing progress including detailed information about the bag currently being processed which will be published with a predefined
interval that can be specified using ``~bagfile_progress_pub_interval`` ROS parameter. interval that can be specified using ``~bagfile_progress_pub_interval`` ROS parameter.
.. _cartographer_ros_msgs/BagfileProgress: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg .. _cartographer_ros_msgs/BagfileProgress: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/BagfileProgress.msg
Parameters Parameters
---------- ----------
@ -194,7 +194,7 @@ Generating the map is expensive and slow, so map updates are in the order of sec
You can can selectively include/exclude submaps from frozen (static) or active trajectories with a command line option. You can can selectively include/exclude submaps from frozen (static) or active trajectories with a command line option.
Call the node with the ``--help`` flag to see these options. Call the node with the ``--help`` flag to see these options.
.. _occupancy_grid_node: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc .. _occupancy_grid_node: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
Subscribed Topics Subscribed Topics
----------------- -----------------
@ -216,7 +216,7 @@ Pbstream Map Publisher Node
The `pbstream_map_publisher`_ is a simple node that creates a static occupancy grid out of a serialized Cartographer state (pbstream format). The `pbstream_map_publisher`_ is a simple node that creates a static occupancy grid out of a serialized Cartographer state (pbstream format).
It is an efficient alternative to the occupancy grid node if live updates are not important. It is an efficient alternative to the occupancy grid node if live updates are not important.
.. _pbstream_map_publisher: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc .. _pbstream_map_publisher: https://github.com/cartographer-project/cartographer_ros/blob/master/cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
Subscribed Topics Subscribed Topics
----------------- -----------------

14
docs/source/tuning.rst
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@ -46,8 +46,8 @@ It is visible in the laser scan data that contradicting information is passed to
But the slipping also indicates that we trust the point cloud matching too much and disregard the other sensors quite strongly. But the slipping also indicates that we trust the point cloud matching too much and disregard the other sensors quite strongly.
Our aim is to improve the situation through tuning. Our aim is to improve the situation through tuning.
.. _aba4575: https://github.com/googlecartographer/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584 .. _aba4575: https://github.com/cartographer-project/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
.. _99c23b6: https://github.com/googlecartographer/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0 .. _99c23b6: https://github.com/cartographer-project/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0
If we only look at this particular submap, that the error is fully contained in one submap. If we only look at this particular submap, that the error is fully contained in one submap.
We also see that over time, global SLAM figures out that something weird happened and partially corrects for it. We also see that over time, global SLAM figures out that something weird happened and partially corrects for it.
@ -103,7 +103,7 @@ Before checking them in, we normalize all weights, since they only have relative
The result of this tuning was `PR 428`_. The result of this tuning was `PR 428`_.
In general, always try to tune for a platform, not a particular bag. In general, always try to tune for a platform, not a particular bag.
.. _PR 428: https://github.com/googlecartographer/cartographer/pull/428 .. _PR 428: https://github.com/cartographer-project/cartographer/pull/428
Special Cases Special Cases
------------- -------------
@ -203,7 +203,7 @@ Developers are keen to help, but they can only be helpful if you follow `an issu
There are already lots of GitHub issues with all sorts of problems solved by the developers. Going through `the closed issues of cartographer_ros`_ and `of cartographer`_ is a great way to learn more about Cartographer and maybe find a solution to your problem ! There are already lots of GitHub issues with all sorts of problems solved by the developers. Going through `the closed issues of cartographer_ros`_ and `of cartographer`_ is a great way to learn more about Cartographer and maybe find a solution to your problem !
.. _GitHub issue: https://github.com/googlecartographer/cartographer_ros/issues .. _GitHub issue: https://github.com/cartographer-project/cartographer_ros/issues
.. _an issue template: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question .. _an issue template: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
.. _the closed issues of cartographer_ros: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed .. _the closed issues of cartographer_ros: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
.. _of cartographer: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed .. _of cartographer: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed

4
jenkins/Dockerfile.kinetic
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@ -18,10 +18,10 @@ ARG CARTOGRAPHER_VERSION=master
# Xenial's base image doesn't ship with sudo. # Xenial's base image doesn't ship with sudo.
RUN apt-get update && apt-get install -y sudo time && rm -rf /var/lib/apt/lists/* RUN apt-get update && apt-get install -y sudo time && rm -rf /var/lib/apt/lists/*
# First, we invalidate the entire cache if googlecartographer/cartographer has # First, we invalidate the entire cache if cartographer-project/cartographer has
# changed. This file's content changes whenever master changes. See: # changed. This file's content changes whenever master changes. See:
# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone # http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \ ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master \
cartographer_ros/cartographer_version.json cartographer_ros/cartographer_version.json
# wstool needs the updated rosinstall file to clone the correct repos. # wstool needs the updated rosinstall file to clone the correct repos.

2
jenkins/Jenkinsfile vendored
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@ -20,7 +20,7 @@ podTemplate(label: 'node-0', containers: [
stage('Compile') { stage('Compile') {
sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json' sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
sh 'cd /data && rm -Rf *' sh 'cd /data && rm -Rf *'
sh 'cd /data && git clone https://github.com/googlecartographer/cartographer_ros' sh 'cd /data && git clone https://github.com/cartographer-project/cartographer_ros'
sh 'cd /data/cartographer_ros && docker build -f jenkins/Dockerfile.kinetic -t kinetic-jenkins-slave --build-arg CACHEBUST=$(date +%s) .' sh 'cd /data/cartographer_ros && docker build -f jenkins/Dockerfile.kinetic -t kinetic-jenkins-slave --build-arg CACHEBUST=$(date +%s) .'
} }
stage('Push') { stage('Push') {

2
jenkins/worker.py
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@ -104,7 +104,7 @@ def get_head_git_sha1():
"""Returns the SHA-1 hash of the commit tagged HEAD.""" """Returns the SHA-1 hash of the commit tagged HEAD."""
output = subprocess.check_output([ output = subprocess.check_output([
'git', 'ls-remote', 'git', 'ls-remote',
'https://github.com/googlecartographer/cartographer.git' 'https://github.com/cartographer-project/cartographer.git'
]) ])
parsed = GIT_SHA1_PATTERN.extract(output) parsed = GIT_SHA1_PATTERN.extract(output)
return parsed['sha1'] return parsed['sha1']

2
scripts/prepare_jenkins_catkin_workspace.sh
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@ -26,7 +26,7 @@ wstool init
# Merge the cartographer_ros.rosinstall file and fetch code for dependencies. # Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
wstool merge ../../cartographer_ros/cartographer_ros.rosinstall wstool merge ../../cartographer_ros/cartographer_ros.rosinstall
wstool merge -y https://raw.githubusercontent.com/googlecartographer/cartographer_fetch/master/cartographer_fetch.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 merge -y https://raw.githubusercontent.com/magazino/cartographer_magazino/master/cartographer_magazino.rosinstall
wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y
wstool remove cartographer_ros wstool remove cartographer_ros