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
GitHub
parent
2ceb9f96a3
commit
bdf8f5921e
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@ -1,76 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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FROM ros:indigo
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ARG CARTOGRAPHER_VERSION=master
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# We require a GitHub access token to be passed.
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ARG github_token
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# First, we invalidate the entire cache if googlecartographer/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
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cartographer_ros/cartographer_version.json
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# wstool needs the updated rosinstall file to clone the correct repos.
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COPY cartographer_ros.rosinstall cartographer_ros/
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COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
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RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh
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# rosdep needs the updated package.xml files to install the correct debs.
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COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
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COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
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COPY scripts/install_debs.sh cartographer_ros/scripts/
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RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
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# Install proto3.
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RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
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# Build, install, and test all packages individually to allow caching. The
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# ordering of these steps must match the topological package ordering as
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# determined by Catkin.
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COPY scripts/install.sh cartographer_ros/scripts/
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COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
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RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
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RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
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cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
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COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
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cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
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COPY scripts/ros_entrypoint.sh /
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# A BTRFS bug may prevent us from cleaning up these directories.
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# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
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RUN rm -rf cartographer_ros catkin_ws || true
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@ -22,10 +22,10 @@ ARG github_token
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# Xenial's base image doesn't ship with sudo.
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RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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# First, we invalidate the entire cache if googlecartographer/cartographer has
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
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ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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cartographer_ros/cartographer_version.json
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# wstool needs the updated rosinstall file to clone the correct repos.
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@ -1,79 +0,0 @@
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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FROM ros:lunar
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ARG CARTOGRAPHER_VERSION=master
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# We require a GitHub access token to be passed.
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ARG github_token
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# Xenial's base image doesn't ship with sudo.
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RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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# First, we invalidate the entire cache if googlecartographer/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
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cartographer_ros/cartographer_version.json
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# wstool needs the updated rosinstall file to clone the correct repos.
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COPY cartographer_ros.rosinstall cartographer_ros/
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COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
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RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh
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# rosdep needs the updated package.xml files to install the correct debs.
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COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
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COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
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COPY scripts/install_debs.sh cartographer_ros/scripts/
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RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
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# Install proto3.
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RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
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# Build, install, and test all packages individually to allow caching. The
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# ordering of these steps must match the topological package ordering as
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# determined by Catkin.
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COPY scripts/install.sh cartographer_ros/scripts/
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COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
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RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
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RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
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cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
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COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
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cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
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COPY scripts/ros_entrypoint.sh /
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# A BTRFS bug may prevent us from cleaning up these directories.
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# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
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RUN rm -rf cartographer_ros catkin_ws || true
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@ -22,10 +22,10 @@ ARG github_token
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# Bionic's base image doesn't ship with sudo.
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RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
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# First, we invalidate the entire cache if googlecartographer/cartographer has
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
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ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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cartographer_ros/cartographer_version.json
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# wstool needs the updated rosinstall file to clone the correct repos.
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12
README.rst
12
README.rst
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@ -25,7 +25,7 @@ Purpose
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and mapping (`SLAM`_) in 2D and 3D across multiple platforms and sensor
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configurations. This project provides Cartographer's ROS integration.
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.. _Cartographer: https://github.com/googlecartographer/cartographer
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.. _Cartographer: https://github.com/cartographer-project/cartographer
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.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
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Getting started
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@ -35,7 +35,7 @@ Getting started
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* You can ask a question by `creating an issue`_.
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.. _our Read the Docs site: https://google-cartographer-ros.readthedocs.io
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.. _creating an issue: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question
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.. _creating an issue: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
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Contributing
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============
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@ -43,12 +43,12 @@ Contributing
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You can find information about contributing to Cartographer's ROS integration
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at `our Contribution page`_.
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.. _our Contribution page: https://github.com/googlecartographer/cartographer_ros/blob/master/CONTRIBUTING.md
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.. _our Contribution page: https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md
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.. |build| image:: https://travis-ci.org/googlecartographer/cartographer_ros.svg?branch=master
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.. |build| image:: https://travis-ci.org/cartographer-project/cartographer_ros.svg?branch=master
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:alt: Build Status
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:scale: 100%
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:target: https://travis-ci.org/googlecartographer/cartographer_ros
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:target: https://travis-ci.org/cartographer-project/cartographer_ros
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.. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
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:alt: Documentation Status
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:scale: 100%
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@ -56,5 +56,5 @@ at `our Contribution page`_.
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.. |license| image:: https://img.shields.io/badge/License-Apache%202.0-blue.svg
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:alt: Apache 2 license.
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:scale: 100%
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:target: https://github.com/googlecartographer/cartographer_ros/blob/master/LICENSE
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:target: https://github.com/cartographer-project/cartographer_ros/blob/master/LICENSE
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@ -25,7 +25,7 @@ jobs:
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choco upgrade %ROS_METAPACKAGE% -y
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choco upgrade ros-melodic-perception -y
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robocopy "." ".\src\cartographer_ros" /E /MOVE /XD "src" > NUL
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git clone https://github.com/googlecartographer/cartographer src\cartographer
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git clone https://github.com/cartographer-project/cartographer src\cartographer
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call "C:\opt\ros\melodic\x64\env.bat" rosdep install --from-paths src --ignore-src -r -y
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env:
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ROS_METAPACKAGE: 'ros-melodic-desktop'
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- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git', version: '1.0.0'}
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- git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git', version: '1.0.0'}
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- git: {local-name: cartographer, uri: 'https://github.com/cartographer-project/cartographer.git', version: '1.0.0'}
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- git: {local-name: cartographer_ros, uri: 'https://github.com/cartographer-project/cartographer_ros.git', version: '1.0.0'}
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- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.13.0'}
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@ -87,7 +87,7 @@ options = {
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-- We also write a PLY file at this stage, because gray points look good.
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-- The points in the PLY can be visualized using
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-- https://github.com/googlecartographer/point_cloud_viewer.
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-- https://github.com/cartographer-project/point_cloud_viewer.
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{
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action = "write_ply",
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filename = "points.ply",
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</maintainer>
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<license>Apache 2.0</license>
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<url>https://github.com/googlecartographer/cartographer_ros</url>
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<url>https://github.com/cartographer-project/cartographer_ros</url>
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<author email="google-cartographer@googlegroups.com">
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The Cartographer Authors
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</maintainer>
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<license>Apache 2.0</license>
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<url>https://github.com/googlecartographer/cartographer_ros</url>
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<url>https://github.com/cartographer-project/cartographer_ros</url>
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<author email="google-cartographer@googlegroups.com">
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The Cartographer Authors
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</maintainer>
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<license>Apache 2.0</license>
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<url>https://github.com/googlecartographer/cartographer_ros</url>
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<url>https://github.com/cartographer-project/cartographer_ros</url>
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<author email="google-cartographer@googlegroups.com">
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The Cartographer Authors
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base_class_type="rviz::Display">
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<description>
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Displays submaps as a unified map in RViz.
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https://github.com/googlecartographer/cartographer_ros
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https://github.com/cartographer-project/cartographer_ros
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</description>
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</class>
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</library>
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@ -31,8 +31,8 @@ IEEE, 2016. pp. 1271–1278.
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Overview
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--------
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.. image:: https://raw.githubusercontent.com/googlecartographer/cartographer/master/docs/source/high_level_system_overview.png
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:target: https://github.com/googlecartographer/cartographer/blob/master/docs/source/high_level_system_overview.png
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.. image:: https://raw.githubusercontent.com/cartographer-project/cartographer/master/docs/source/high_level_system_overview.png
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:target: https://github.com/cartographer-project/cartographer/blob/master/docs/source/high_level_system_overview.png
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Cartographer can be seen as two separate, but related subsystems.
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The first one is **local SLAM** (sometimes also called **frontend** or local trajectory builder).
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@ -40,8 +40,8 @@ Its job is to build a succession of **submaps**.
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Each submap is meant to be locally consistent but we accept that local SLAM drifts over time.
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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)
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_2d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_2d.lua
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.. _install_isolated/share/cartographer/configuration_files/trajectory_builder_3d.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/trajectory_builder_3d.lua
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The other subsystem is **global SLAM** (sometimes called the **backend**).
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It runs in background threads and its main job is to find **loop closure constraints**.
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@ -50,7 +50,7 @@ It also incorporates other sensor data to get a higher level view and identify t
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In 3D, it also tries to find the direction of gravity.
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Most of its options can be found in `install_isolated/share/cartographer/configuration_files/pose_graph.lua`_
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.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/googlecartographer/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
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.. _install_isolated/share/cartographer/configuration_files/pose_graph.lua: https://github.com/cartographer-project/cartographer/blob/df337194e21f98f8c7b0b88dab33f878066d4b56/configuration_files/pose_graph.lua
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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.
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@ -66,7 +66,7 @@ When running as an online node, Cartographer doesn't know when your bag (or sens
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Once you've retrieved your ``.pbstream`` file, you can run the assets writer with the `sample pipeline`_ for the 3D backpack:
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.. _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
|
||||
|
||||
|
|
@ -83,17 +83,17 @@ Configuration
|
|||
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.
|
||||
|
||||
.. _PointsProcessor: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.h
|
||||
.. _PointsBatch: https://github.com/googlecartographer/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_batch.h
|
||||
.. _PointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/points_processor.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.
|
||||
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.
|
||||
|
||||
.. _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.
|
||||
* **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.
|
||||
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/
|
||||
|
||||
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`_.
|
||||
|
||||
.. _IntensityToColorPointsProcessor: https://github.com/googlecartographer/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
|
||||
.. _assets_writer_backpack_2d.lua: https://github.com/googlecartographer/cartographer_ros/blob/44459e18102305745c56f92549b87d8e91f434fe/cartographer_ros/configuration_files/assets_writer_backpack_2d.lua
|
||||
.. _IntensityToColorPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/intensity_to_color_points_processor.cc
|
||||
.. _PlyWritingPointsProcessor: https://github.com/cartographer-project/cartographer/blob/30f7de1a325d6604c780f2f74d9a345ec369d12d/cartographer/io/ply_writing_points_processor.h
|
||||
.. _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.
|
||||
|
||||
.. _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
|
||||
|
|
|
|||
|
|
@ -23,9 +23,7 @@ The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
|
|||
|
||||
The following `ROS distributions`_ are currently supported:
|
||||
|
||||
* Indigo
|
||||
* Kinetic
|
||||
* Lunar
|
||||
* Melodic
|
||||
|
||||
.. _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
|
||||
cd catkin_ws
|
||||
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
|
||||
|
||||
Install cartographer_ros' dependencies (proto3 and deb packages).
|
||||
|
|
|
|||
|
|
@ -130,6 +130,6 @@ landmarks_sampling_ratio
|
|||
.. _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/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/LandmarkEntry: https://github.com/googlecartographer/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.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/cartographer-project/cartographer_ros/blob/4b39ee68c7a4d518bf8d01a509331e2bc1f514a0/cartographer_ros_msgs/msg/LandmarkEntry.msg
|
||||
.. _tf2: http://wiki.ros.org/tf2
|
||||
|
|
|
|||
|
|
@ -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
|
||||
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?
|
||||
----------------------------------------------------
|
||||
|
|
|
|||
|
|
@ -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!
|
||||
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.
|
||||
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`_.
|
||||
However, make sure you have signed (online) the `Contributor License Agreement`_ first!
|
||||
|
||||
.. _GitHub pull requests: https://github.com/googlecartographer/cartographer/pulls
|
||||
.. _Contributor License Agreement: https://github.com/googlecartographer/cartographer/blob/master/CONTRIBUTING.md
|
||||
.. _GitHub pull requests: https://github.com/cartographer-project/cartographer/pulls
|
||||
.. _Contributor License Agreement: https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md
|
||||
|
|
|
|||
|
|
@ -42,7 +42,7 @@ For landmarks publishing on a ``cartographer_ros_msgs/LandmarkList`` (`message d
|
|||
|
||||
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
|
||||
=================
|
||||
|
|
|
|||
|
|
@ -38,5 +38,5 @@ configurations. This project provides Cartographer's ROS integration.
|
|||
data
|
||||
faq
|
||||
|
||||
.. _Cartographer: https://github.com/googlecartographer/cartographer
|
||||
.. _Cartographer: https://github.com/cartographer-project/cartographer
|
||||
.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@ Cartographer Node
|
|||
|
||||
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
|
||||
------------------
|
||||
|
|
@ -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
|
||||
.. _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/SubmapList: https://github.com/googlecartographer/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/StartTrajectory: https://github.com/googlecartographer/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/WriteState: https://github.com/googlecartographer/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/ReadMetrics: https://github.com/googlecartographer/cartographer_ros/blob/master/cartographer_ros_msgs/srv/ReadMetrics.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/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/msg/SubmapList.msg
|
||||
.. _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/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/StartTrajectory.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/cartographer-project/cartographer_ros/blob/master/cartographer_ros_msgs/srv/WriteState.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/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/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
|
||||
|
|
@ -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.
|
||||
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
|
||||
|
|
@ -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
|
||||
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
|
||||
----------
|
||||
|
|
@ -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.
|
||||
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
|
||||
-----------------
|
||||
|
|
@ -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).
|
||||
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
|
||||
-----------------
|
||||
|
|
|
|||
|
|
@ -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.
|
||||
Our aim is to improve the situation through tuning.
|
||||
|
||||
.. _aba4575: https://github.com/googlecartographer/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
|
||||
.. _99c23b6: https://github.com/googlecartographer/cartographer_ros/commit/99c23b6ac7874f7974e9ed808ace841da6f2c8b0
|
||||
.. _aba4575: https://github.com/cartographer-project/cartographer/commit/aba4575d937df4c9697f61529200c084f2562584
|
||||
.. _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.
|
||||
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`_.
|
||||
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
|
||||
-------------
|
||||
|
|
@ -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 !
|
||||
|
||||
.. _GitHub issue: https://github.com/googlecartographer/cartographer_ros/issues
|
||||
.. _an issue template: https://github.com/googlecartographer/cartographer_ros/issues/new?labels=question
|
||||
.. _the closed issues of cartographer_ros: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
.. _of cartographer: https://github.com/googlecartographer/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
.. _GitHub issue: https://github.com/cartographer-project/cartographer_ros/issues
|
||||
.. _an issue template: https://github.com/cartographer-project/cartographer_ros/issues/new?labels=question
|
||||
.. _the closed issues of cartographer_ros: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
.. _of cartographer: https://github.com/cartographer-project/cartographer_ros/issues?q=is%3Aissue+is%3Aclosed
|
||||
|
|
|
|||
|
|
@ -18,10 +18,10 @@ ARG CARTOGRAPHER_VERSION=master
|
|||
|
||||
# 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/*
|
||||
# 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:
|
||||
# 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
|
||||
|
||||
# wstool needs the updated rosinstall file to clone the correct repos.
|
||||
|
|
|
|||
|
|
@ -20,7 +20,7 @@ podTemplate(label: 'node-0', containers: [
|
|||
stage('Compile') {
|
||||
sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
|
||||
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) .'
|
||||
}
|
||||
stage('Push') {
|
||||
|
|
|
|||
|
|
@ -104,7 +104,7 @@ def get_head_git_sha1():
|
|||
"""Returns the SHA-1 hash of the commit tagged HEAD."""
|
||||
output = subprocess.check_output([
|
||||
'git', 'ls-remote',
|
||||
'https://github.com/googlecartographer/cartographer.git'
|
||||
'https://github.com/cartographer-project/cartographer.git'
|
||||
])
|
||||
parsed = GIT_SHA1_PATTERN.extract(output)
|
||||
return parsed['sha1']
|
||||
|
|
|
|||
|
|
@ -26,7 +26,7 @@ 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/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 set cartographer -v ${CARTOGRAPHER_VERSION} -y
|
||||
wstool remove cartographer_ros
|
||||
|
|
|
|||
Loading…
Reference in New Issue