ROS2 port of cartographer_ros (library & executables)

[MichaelGrupp]

Components

• library (see cartographer_ros/CMakeLists.txt)
• nodes & other executables (see cartographer_ros/cartographer_ros/CMakeLists.txt)
• the package.xml (and other relevant files for compiling in CI) would need to be adapted too of course

The library cmake file uses a glob filter to get all .cc files. This could be changed for the period of porting, to allow porting only a subset of files at a time (in correct dependency order of course).

Regarding executables I would say the first goal should be to port node_main.cc, then offline_node_main.cc and then all the remaining tools. Files that don't build yet should be excluded from the build temporarily, by commenting out in the cmake file.

How to test locally with Docker

Can be done in addition to building with colcon in your personal workspace. This is how we would test before merging, so it makes also sense to test it like this locally.

Once #1543 and #1542 are merged, you can activate the build of cartographer_ros in Dockerfile.foxy and in scripts/install_debs.sh (see TODO comments in these files). Then run

docker build . --file Dockerfile.foxy --tag cartographer_ros:foxy

to build your branch (dashing can be done the same way).

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As written also in #1536, you can have a look also at the outdated old port on the ros2-dashing-1.0.0 branch.

[jediofgever]

Hey, just wanted to know whether ros2 branch builds with foxy ?. Please let me know if anyone has tried. Thank you

[seasony-vp]

Hey, just wanted to know whether ros2 branch builds with foxy ?. Please let me know if anyone has tried. Thank you

It seems that the install fails. I created an issue #1579.

[MichaelGrupp]

@jediofgever Work in progress. Not yet ready to build.

@seasony-vp This is unrelated to this issue. You are referring to the old port made by OSRF, we plan to make a new one here.

[imstevenpmwyca]

Dear @MichaelGrupp

Work in progress. Not yet ready to build.

Do you have any updates regarding this?

[MichaelGrupp]

I didn't have the time for continuing the WIP state recently. But I will update here once there's something new.

[doisyg]

PR for rolling/galactic here https://github.com/cartographer-project/cartographer_ros/pull/1622 (should maybe target a new branch ?)