- git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'} - git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'} - git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0rc4'}