Migration to cartographer 2.0 library and proper ros2 implementation

.github/ISSUE_TEMPLATE/bug-report.md

@@ -0,0 +1,19 @@
+---
+name: Bug report
+about: Report a bug that you've found in this repository or in a release.
+
+---
+
+Please provide information for your bug report:
+
+- if you're using cartographer_ros from source, provide the Git commit hash
+  (via `git log -1 --format="%H"`):
+
+- if you're using a release package, provide the version
+  (e.g. via `apt show <package_name>`):
+
+- provide all information that is needed to analyze and reproduce the bug
+  (logs, commands that have been used, ...)
+
+PLEASE NOTE: we don't support custom forks or extensions.
+If you need tuning advice, you can open a tuning issue instead.

.github/ISSUE_TEMPLATE/general-issue.md

@@ -0,0 +1,5 @@
+---
+name: General issue
+about: Use this issue for general questions.
+
+---

.github/ISSUE_TEMPLATE/tuning-advice.md

@@ -0,0 +1,30 @@
+---
+name: Help request for tuning
+about: Describe tuning problems with your custom Cartographer setup to request help from the community.
+
+---
+
+To improve the chances that other Cartographer users can help you,
+here are some guidelines for describing your tuning problem:
+
+1. check the tuning guide on the documentation page and previous issues -
+   some problems might have been solved already by other people.
+
+2. run `rosbag_validate` which does some checks on your sensor data. This
+   tool often finds issues that can explain poor performance and must be fixed
+   at recording time. Please post the full output of the tool into a
+   GitHub Gist at https://gist.github.com/, then link it in the issue even if
+   it does not report anything. You can run the tool like this:
+
+   rosrun cartographer_ros cartographer_rosbag_validate -bag_filename <bag filename>
+
+3. post a link to a Git repository containing a branch of
+   `cartographer_ros` containing all the configuration, launch, and URDF files
+   required to reproduce your issue.
+4. post a link to a bag file we can use to reproduce your issue. Put it on
+   Google Drive, Dropbox, any webserver or wherever it is publicly
+   downloadable.
+5. remove this boilerplate text before submitting your issue.
+
+PLEASE NOTE: tuning issues are not necessarily handled by the maintainers and
+can be closed after a period of inactivity.

.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,2 @@
+Want to contribute? Great! Make sure you've read and understood
+[CONTRIBUTING.md](https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md).

.travis.yml

@@ -22,10 +22,9 @@ cache:
     - /home/travis/docker/
 
 env:
-  - ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
   - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
-  - ROS_RELEASE=lunar DOCKER_CACHE_FILE=/home/travis/docker/lunar-cache.tar.gz
   - ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz
+  - ROS_RELEASE=noetic DOCKER_CACHE_FILE=/home/travis/docker/noetic-cache.tar.gz
 
 before_install:
   # $GITHUB_TOKEN must be a valid GitHub access token without access rights (https://github.com/settings/tokens).

CONTRIBUTING.md

@@ -1,27 +1,51 @@
-Want to contribute? Great! First, read this page (including the small print at the end).
+Want to contribute? Great! First, read this page.
 
 ### Before you contribute
-Before we can use your code, you must sign the
-[Google Individual Contributor License Agreement]
-(https://cla.developers.google.com/about/google-individual)
-(CLA), which you can do online. The CLA is necessary mainly because you own the
-copyright to your changes, even after your contribution becomes part of our
-codebase, so we need your permission to use and distribute your code. We also
-need to be sure of various other things—for instance that you'll tell us if you
-know that your code infringes on other people's patents. You don't have to sign
-the CLA until after you've submitted your code for review and a member has
-approved it, but you must do it before we can put your code into our codebase.
-Before you start working on a larger contribution, you should get in touch with
-us first through the issue tracker with your idea so that we can help out and
-possibly guide you. Coordinating up front makes it much easier to avoid
-frustration later on.
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0):
+
+```
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+```
+
+### Developer Certificate of Origin
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+You can sign-off a commit via `git commit -s`.
 
 ### Code reviews
-All submissions, including submissions by project members, require review. We
-use Github pull requests for this purpose.
-
-### The small print
-Contributions made by corporations are covered by a different agreement than
-the one above, the
-[Software Grant and Corporate Contributor License Agreement]
-(https://cla.developers.google.com/about/google-corporate).
+
+All submissions, including submissions by project members, require review.
+We use GitHub pull requests for this purpose. Make sure you've read,
+understood and considered all the points below before creating your PR.
+
+#### Style guide
+
+C++ code should adhere to the
+[Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
+You can handle the formatting part of the style guide via `git clang-format`.
+
+#### Best practices
+
+When preparing your PR and also during the code review make sure to follow
+[best practices](https://google.github.io/eng-practices/review/developer/).
+Most importantly, keep your PR under 200 lines of code and address a single
+concern.
+
+#### Testing
+
+- Add unit tests and documentation (these do not count toward your 200 lines).
+- Run tests as appropriate, e.g. `docker build . -t cartographer:noetic -f Dockerfile.noetic`.
+- Keep rebasing (or merging) of master branch to a minimum. It triggers Travis
+  runs for every update which blocks merging of other changes.

Dockerfile.kinetic

@@ -12,20 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM ros:kinetic
+FROM osrf/ros:kinetic-desktop
 
 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/*
+RUN apt-get update && apt-get install -y sudo
 
-# 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?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
 
 # wstool needs the updated rosinstall file to clone the correct repos.
@@ -39,9 +39,10 @@ COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ro
 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/*
+RUN cartographer_ros/scripts/install_debs.sh
 
-# Install proto3.
+# Install Abseil and proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
 RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
 
 # Build, install, and test all packages individually to allow caching. The
@@ -50,17 +51,15 @@ RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
 COPY scripts/install.sh cartographer_ros/scripts/
 COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
 
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
 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 \
@@ -74,6 +73,8 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
 
 COPY scripts/ros_entrypoint.sh /
+
+RUN rm -rf /var/lib/apt/lists/*
 # 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

Dockerfile.melodic

@@ -12,20 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM ros:melodic
+FROM osrf/ros:melodic-desktop
 
 ARG CARTOGRAPHER_VERSION=master
 
 # We require a GitHub access token to be passed.
 ARG github_token
 
 # 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
 
-# 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?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
 
 # wstool needs the updated rosinstall file to clone the correct repos.
@@ -39,28 +39,26 @@ COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ro
 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/*
+RUN cartographer_ros/scripts/install_debs.sh
 
-# Install proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+# Install Abseil.
+RUN /catkin_ws/src/cartographer/scripts/install_abseil.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/
 
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
 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 \
@@ -74,6 +72,8 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
     cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
 
 COPY scripts/ros_entrypoint.sh /
+
+RUN rm -rf /var/lib/apt/lists/*
 # 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