diff options
| -rw-r--r-- | .gitignore | 1 | ||||
| -rw-r--r-- | cartographer-changes.patch | 309 | ||||
| -rw-r--r-- | cartographer.spec | 138 | ||||
| -rw-r--r-- | sources | 1 | ||||
| -rw-r--r-- | thread_annotations.h | 60 |
5 files changed, 509 insertions, 0 deletions
@@ -0,0 +1 @@ +/cartographer-2.0.9004.tar.gz diff --git a/cartographer-changes.patch b/cartographer-changes.patch new file mode 100644 index 0000000..f49498a --- /dev/null +++ b/cartographer-changes.patch @@ -0,0 +1,309 @@ +diff --git a/cartographer/cloud/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h +index 03a70aa..22644f5 100644 +--- a/cartographer/cloud/internal/map_builder_server.h ++++ b/cartographer/cloud/internal/map_builder_server.h +@@ -17,6 +17,7 @@ + #ifndef CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H + #define CARTOGRAPHER_CLOUD_INTERNAL_MAP_BUILDER_SERVER_H + ++#include "cartographer/common/thread_annotations.h" + #include "async_grpc/execution_context.h" + #include "async_grpc/server.h" + #include "cartographer/cloud/internal/local_trajectory_uploader.h" +diff --git a/cartographer/common/internal/blocking_queue.h b/cartographer/common/internal/blocking_queue.h +index cba91c0..1e3ddc3 100644 +--- a/cartographer/common/internal/blocking_queue.h ++++ b/cartographer/common/internal/blocking_queue.h +@@ -21,6 +21,7 @@ + #include <deque> + #include <memory> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/synchronization/mutex.h" + #include "cartographer/common/port.h" + #include "cartographer/common/time.h" +diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.cc b/cartographer/common/internal/testing/thread_pool_for_testing.cc +index 89744ba..430ba8e 100644 +--- a/cartographer/common/internal/testing/thread_pool_for_testing.cc ++++ b/cartographer/common/internal/testing/thread_pool_for_testing.cc +@@ -15,7 +15,6 @@ + */ + + #include "cartographer/common/internal/testing/thread_pool_for_testing.h" +- + #ifndef WIN32 + #include <unistd.h> + #endif +@@ -23,6 +22,7 @@ + #include <chrono> + #include <numeric> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/memory/memory.h" + #include "cartographer/common/task.h" + #include "cartographer/common/time.h" +diff --git a/cartographer/common/internal/testing/thread_pool_for_testing.h b/cartographer/common/internal/testing/thread_pool_for_testing.h +index f733d0f..dc2313c 100644 +--- a/cartographer/common/internal/testing/thread_pool_for_testing.h ++++ b/cartographer/common/internal/testing/thread_pool_for_testing.h +@@ -16,12 +16,12 @@ + + #ifndef CARTOGRAPHER_COMMON_INTERNAL_TESTING_THREAD_POOL_FOR_TESTING_H_ + #define CARTOGRAPHER_COMMON_INTERNAL_TESTING_THREAD_POOL_FOR_TESTING_H_ +- + #include <deque> + #include <functional> + #include <map> + #include <thread> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/synchronization/mutex.h" + #include "cartographer/common/thread_pool.h" + +diff --git a/cartographer/common/task.cc b/cartographer/common/task.cc +index 4085c97..643270b 100644 +--- a/cartographer/common/task.cc ++++ b/cartographer/common/task.cc +@@ -13,7 +13,6 @@ + * See the License for the specific language governing permissions and + * limitations under the License. + */ +- + #include "cartographer/common/task.h" + + namespace cartographer { +diff --git a/cartographer/common/task.h b/cartographer/common/task.h +index ae44fb1..d65b0cd 100644 +--- a/cartographer/common/task.h ++++ b/cartographer/common/task.h +@@ -16,9 +16,9 @@ + + #ifndef CARTOGRAPHER_COMMON_TASK_H_ + #define CARTOGRAPHER_COMMON_TASK_H_ +- + #include <set> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/synchronization/mutex.h" + #include "glog/logging.h" + #include "thread_pool.h" +diff --git a/cartographer/common/thread_pool.cc b/cartographer/common/thread_pool.cc +index 2457152..7d7a62d 100644 +--- a/cartographer/common/thread_pool.cc ++++ b/cartographer/common/thread_pool.cc +@@ -15,7 +15,6 @@ + */ + + #include "cartographer/common/thread_pool.h" +- + #ifndef WIN32 + #include <unistd.h> + #endif +@@ -23,6 +22,7 @@ + #include <chrono> + #include <numeric> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/memory/memory.h" + #include "cartographer/common/task.h" + #include "glog/logging.h" +diff --git a/cartographer/common/thread_pool.h b/cartographer/common/thread_pool.h +index 3f6b94c..ff3751d 100644 +--- a/cartographer/common/thread_pool.h ++++ b/cartographer/common/thread_pool.h +@@ -16,12 +16,12 @@ + + #ifndef CARTOGRAPHER_COMMON_THREAD_POOL_H_ + #define CARTOGRAPHER_COMMON_THREAD_POOL_H_ +- + #include <deque> + #include <functional> + #include <memory> + #include <thread> + #include <vector> ++#include "cartographer/common/thread_annotations.h" + + #include "absl/container/flat_hash_map.h" + #include "absl/synchronization/mutex.h" +diff --git a/cartographer/common/thread_pool_test.cc b/cartographer/common/thread_pool_test.cc +index fec82ee..596b145 100644 +--- a/cartographer/common/thread_pool_test.cc ++++ b/cartographer/common/thread_pool_test.cc +@@ -18,6 +18,7 @@ + + #include <vector> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/memory/memory.h" + #include "gtest/gtest.h" + +diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.cc b/cartographer/mapping/internal/2d/pose_graph_2d.cc +index 060277e..4434ab9 100644 +--- a/cartographer/mapping/internal/2d/pose_graph_2d.cc ++++ b/cartographer/mapping/internal/2d/pose_graph_2d.cc +@@ -28,6 +28,7 @@ + #include <sstream> + #include <string> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Eigenvalues" + #include "absl/memory/memory.h" + #include "cartographer/common/math.h" +diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h +index 3733425..b1ac7cc 100644 +--- a/cartographer/mapping/internal/2d/pose_graph_2d.h ++++ b/cartographer/mapping/internal/2d/pose_graph_2d.h +@@ -25,6 +25,7 @@ + #include <set> + #include <vector> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Core" + #include "Eigen/Geometry" + #include "absl/container/flat_hash_map.h" +diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.cc b/cartographer/mapping/internal/3d/pose_graph_3d.cc +index 8a91e59..74cc66b 100644 +--- a/cartographer/mapping/internal/3d/pose_graph_3d.cc ++++ b/cartographer/mapping/internal/3d/pose_graph_3d.cc +@@ -27,6 +27,7 @@ + #include <sstream> + #include <string> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Eigenvalues" + #include "absl/memory/memory.h" + #include "cartographer/common/math.h" +diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h +index 12a3469..0389a2a 100644 +--- a/cartographer/mapping/internal/3d/pose_graph_3d.h ++++ b/cartographer/mapping/internal/3d/pose_graph_3d.h +@@ -25,6 +25,7 @@ + #include <set> + #include <vector> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Core" + #include "Eigen/Geometry" + #include "absl/container/flat_hash_map.h" +diff --git a/cartographer/mapping/internal/connected_components.h b/cartographer/mapping/internal/connected_components.h +index 05f327e..420dfe0 100644 +--- a/cartographer/mapping/internal/connected_components.h ++++ b/cartographer/mapping/internal/connected_components.h +@@ -19,6 +19,7 @@ + + #include <map> + ++#include "cartographer/common/thread_annotations.h" + #include "absl/container/flat_hash_map.h" + #include "absl/synchronization/mutex.h" + #include "cartographer/mapping/proto/connected_components.pb.h" +diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc +index ad3dfb7..d7e0c57 100644 +--- a/cartographer/mapping/internal/constraints/constraint_builder_2d.cc ++++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc +@@ -27,6 +27,7 @@ + #include <tuple> + #include <utility> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Eigenvalues" + #include "absl/memory/memory.h" + #include "cartographer/common/math.h" +diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d.h b/cartographer/mapping/internal/constraints/constraint_builder_2d.h +index 6667fdb..5e41da9 100644 +--- a/cartographer/mapping/internal/constraints/constraint_builder_2d.h ++++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.h +@@ -24,6 +24,7 @@ + #include <map> + #include <vector> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Core" + #include "Eigen/Geometry" + #include "absl/synchronization/mutex.h" +diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc +index 87b3742..c3eb767 100644 +--- a/cartographer/mapping/internal/constraints/constraint_builder_3d.cc ++++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc +@@ -27,6 +27,7 @@ + #include <tuple> + #include <utility> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Eigenvalues" + #include "absl/memory/memory.h" + #include "cartographer/common/math.h" +diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d.h b/cartographer/mapping/internal/constraints/constraint_builder_3d.h +index 247a9da..d909358 100644 +--- a/cartographer/mapping/internal/constraints/constraint_builder_3d.h ++++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.h +@@ -24,6 +24,7 @@ + #include <map> + #include <vector> + ++#include "cartographer/common/thread_annotations.h" + #include "Eigen/Core" + #include "Eigen/Geometry" + #include "absl/synchronization/mutex.h" +diff --git a/cartographer/mapping/internal/range_data_collator_test.cc b/cartographer/mapping/internal/range_data_collator_test.cc +index 43ceb00..6435e50 100644 +--- a/cartographer/mapping/internal/range_data_collator_test.cc ++++ b/cartographer/mapping/internal/range_data_collator_test.cc +@@ -203,3 +203,4 @@ TEST(RangeDataCollatorTest, ThreeSensorsWithIntensities) { + } // namespace + } // namespace mapping + } // namespace cartographer ++ +diff --git a/cartographer/sensor/imu_data.h b/cartographer/sensor/imu_data.h +index 18f1b6e..d5c504f 100644 +--- a/cartographer/sensor/imu_data.h ++++ b/cartographer/sensor/imu_data.h +@@ -25,9 +25,9 @@ namespace cartographer { + namespace sensor { + + struct ImuData { +- common::Time time; +- Eigen::Vector3d linear_acceleration; +- Eigen::Vector3d angular_velocity; ++ common::Time time{}; ++ Eigen::Vector3d linear_acceleration{Eigen::Vector3d::Zero()}; ++ Eigen::Vector3d angular_velocity{Eigen::Vector3d::Zero()}; + }; + + // Converts 'imu_data' to a proto::ImuData. +diff --git a/scripts/build_test_asan.sh b/scripts/build_test_asan.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_abseil.sh b/scripts/install_abseil.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_async_grpc.sh b/scripts/install_async_grpc.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_cartographer_bazel.sh b/scripts/install_cartographer_bazel.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_cartographer_cmake.sh b/scripts/install_cartographer_cmake.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_cartographer_cmake_with_grpc.sh b/scripts/install_cartographer_cmake_with_grpc.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_debs_bazel.sh b/scripts/install_debs_bazel.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_grpc.sh b/scripts/install_grpc.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_prometheus_cpp.sh b/scripts/install_prometheus_cpp.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/install_proto3.sh b/scripts/install_proto3.sh +old mode 100755 +new mode 100644 +diff --git a/scripts/update_configuration_doc.py b/scripts/update_configuration_doc.py +old mode 100755 +new mode 100644 diff --git a/cartographer.spec b/cartographer.spec new file mode 100644 index 0000000..27769d6 --- /dev/null +++ b/cartographer.spec @@ -0,0 +1,138 @@ +%bcond_with tests +%bcond_without weak_deps + +%define ros_distro humble + +%global debug_package %{nil} +%global __os_install_post %(echo '%{__os_install_post}' | sed -e 's!/usr/lib[^[:space:]]*/brp-python-bytecompile[[:space:]].*$!!g') +%global __provides_exclude_from ^/opt/ros/%{ros_distro}/.*$ +%global __requires_exclude_from ^/opt/ros/%{ros_distro}/.*$ + +%define RosPkgName cartographer + +Name: ros-%{ros_distro}-%{RosPkgName} +Version: 2.0.9004 +Release: 1%{?dist}%{?release_suffix} +Summary: ROS cartographer package + +Url: https://github.com/cartographer-project/cartographer +License: Apache 2.0 +Source0: %{RosPkgName}-%{version}.tar.gz +Source1: thread_annotations.h +Patch0: cartographer-changes.patch + +Requires: boost-devel +Requires: eigen3-devel +Requires: abseil-cpp-devel +Requires: cairo-devel +Requires: ceres-solver-devel +Requires: gflags-devel +Requires: glog-devel +Requires: lua-devel +Requires: protobuf-devel +Requires: ros-%{ros_distro}-ros-workspace + +BuildRequires: boost-devel +BuildRequires: eigen3-devel +BuildRequires: abseil-cpp-devel +BuildRequires: cairo-devel +BuildRequires: ceres-solver-devel +BuildRequires: gflags-devel +BuildRequires: glog-devel +BuildRequires: lua-devel +BuildRequires: protobuf-devel +BuildRequires: git +BuildRequires: gmock-devel +BuildRequires: gtest-devel +BuildRequires: python3-sphinx +BuildRequires: cmake +BuildRequires: ros-%{ros_distro}-ros-workspace + +%if 0%{?with_tests} +%endif + +Provides: %{name}-devel = %{version}-%{release} +Provides: %{name}-doc = %{version}-%{release} +Provides: %{name}-runtime = %{version}-%{release} + +%description +Cartographer is a system that provides real-time simultaneous localization + and mapping (SLAM) in 2D and 3D across multiple platforms and sensor + configurations. + +%prep +%autosetup -p1 -n %{RosPkgName}-%{version} +# Patch0 adds #include "cartographer/common/thread_annotations.h" but the +# upstream tarball doesn't ship it; provide a stub with no-op macros. +cp %{SOURCE1} cartographer/common/thread_annotations.h + +%build +# Needed to bootstrap since the ros_workspace package does not yet exist. +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages + +# In case we're installing to a non-standard location, look for a setup.sh +# in the install tree and source it. It will set things like +# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. +if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi +mkdir -p .obj-%{_target_platform} && cd .obj-%{_target_platform} +%cmake3 \ + -UINCLUDE_INSTALL_DIR \ + -ULIB_INSTALL_DIR \ + -USYSCONF_INSTALL_DIR \ + -USHARE_INSTALL_PREFIX \ + -ULIB_SUFFIX \ + -DCMAKE_INSTALL_PREFIX="/opt/ros/%{ros_distro}" \ + -DAMENT_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DCMAKE_PREFIX_PATH="/opt/ros/%{ros_distro}" \ + -DSETUPTOOLS_DEB_LAYOUT=OFF \ +%if !0%{?with_tests} + -DBUILD_TESTING=OFF \ +%endif + .. + +%make_build + +%install +# Needed to bootstrap since the ros_workspace package does not yet exist. +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages + +# In case we're installing to a non-standard location, look for a setup.sh +# in the install tree and source it. It will set things like +# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. +if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi +%make_install -C .obj-%{_target_platform} + +%if 0%{?with_tests} +%check +# Needed to bootstrap since the ros_workspace package does not yet exist. +export PYTHONPATH=/opt/ros/%{ros_distro}/lib/python%{python3_version}/site-packages + +# Look for a Makefile target with a name indicating that it runs tests +TEST_TARGET=$(%__make -qp -C .obj-%{_target_platform} | sed "s/^\(test\|check\):.*/\\1/;t f;d;:f;q0") +if [ -n "$TEST_TARGET" ]; then +# In case we're installing to a non-standard location, look for a setup.sh +# in the install tree and source it. It will set things like +# CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH. +if [ -f "/opt/ros/%{ros_distro}/setup.sh" ]; then . "/opt/ros/%{ros_distro}/setup.sh"; fi +CTEST_OUTPUT_ON_FAILURE=1 \ + %make_build -C .obj-%{_target_platform} $TEST_TARGET || echo "RPM TESTS FAILED" +else echo "RPM TESTS SKIPPED"; fi +%endif + +%files +/opt/ros/%{ros_distro} + +%changelog +* Thu Oct 08 2026 kuyan_kubuds <kuyan@kubuds.cn> - 2.0.9004-1 +- Sync cartographer 2.0.9004 from humble branch to master + +* Mon Sep 21 2026 Wanming Hu <huwanming@huawei.com> - 2.0.9004-1 +- Upgrade cartographer from 1.0.0 to 2.0.9004 for ROS 2 Humble. + +* Thu Nov 14 2024 Your Name <your.email@example.com> - 1.0.0 +- Simplified CMake patch to add compile flags to GOOG_CXX_FLAGS +- Fix installed CMake files paths in spec file +- Remove build-time absolute paths from installed files + +* Tue Dec 15 2020 openEuler Buildteam <hanhaomin008@126.com> +- Package init @@ -0,0 +1 @@ +c2373c3026dc2c71e8ce53171727f64f cartographer-2.0.9004.tar.gz diff --git a/thread_annotations.h b/thread_annotations.h new file mode 100644 index 0000000..c66e861 --- /dev/null +++ b/thread_annotations.h @@ -0,0 +1,60 @@ +#ifndef CARTOGRAPHER_COMMON_THREAD_ANNOTATIONS_H +#define CARTOGRAPHER_COMMON_THREAD_ANNOTATIONS_H + +#ifndef LOCKS_EXCLUDED +#define LOCKS_EXCLUDED(...) +#endif + +#ifndef GUARDED_BY +#define GUARDED_BY(x) +#endif + +#ifndef EXCLUSIVE_LOCKS_REQUIRED +#define EXCLUSIVE_LOCKS_REQUIRED(...) +#endif + +#ifndef SHARED_LOCKS_REQUIRED +#define SHARED_LOCKS_REQUIRED(...) +#endif + +#ifndef ACQUIRED_BEFORE +#define ACQUIRED_BEFORE(...) +#endif + +#ifndef ACQUIRED_AFTER +#define ACQUIRED_AFTER(...) +#endif + +#ifndef REQUIRES +#define REQUIRES(...) +#endif + +#ifndef ACQUIRE +#define ACQUIRE(...) +#endif + +#ifndef RELEASE +#define RELEASE(...) +#endif + +#ifndef EXCLUDES +#define EXCLUDES(...) +#endif + +#ifndef ASSERT_EXCLUSIVE_LOCK +#define ASSERT_EXCLUSIVE_LOCK(...) +#endif + +#ifndef ASSERT_SHARED_LOCK +#define ASSERT_SHARED_LOCK(...) +#endif + +#ifndef RETURN_CAPABILITY +#define RETURN_CAPABILITY(x) +#endif + +#ifndef NO_THREAD_SAFETY_ANALYSIS +#define NO_THREAD_SAFETY_ANALYSIS +#endif + +#endif // CARTOGRAPHER_COMMON_THREAD_ANNOTATIONS_H |