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Merge pull request #5 from ARTI-Robots/feature/ros1_3d_models
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Integrate 3D models
cmuehlbacher authored Oct 2, 2024
2 parents b4f5c66 + 90c9443 commit 8545097
Showing 173 changed files with 13,639 additions and 440 deletions.
25 changes: 25 additions & 0 deletions .github/workflows/main.yaml
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
name: CI

on:
push:
branches:
- '*'

jobs:
ci:
strategy:
matrix:
include:
- os: ubuntu-20.04
distro: noetic
fail-fast: false
runs-on: ${{ matrix.os }}
steps:
- uses: actions/checkout@v1
- uses: ros-tooling/setup-ros@0.7.0
with:
required-ros-distributions: ${{ matrix.distro }}
- run: sudo apt remove python3-openssl -y
- uses: ros-tooling/action-ros-ci@0.3.5
with:
target-ros1-distro: ${{ matrix.distro }}
6 changes: 3 additions & 3 deletions Jenkinsfile
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
#!/usr/bin/env groovy
@Library('tailor-meta@0.1.20')_
@Library('tailor-meta@0.1.24')_
tailorTestPipeline(
// Name of job that generated this test definition.
rosdistro_job: '/ci/rosdistro/master',
@@ -10,9 +10,9 @@ tailorTestPipeline(
// Release label to pull test images from.
release_label: 'hotdog',
// OS distributions to test.
distributions: ['focal'],
distributions: ['jammy'],
// Version of tailor_meta to build against
tailor_meta: '0.1.20',
tailor_meta: '0.1.24',
// Master or release branch associated with this track
source_branch: 'devel',
// Docker registry where test image is stored
8 changes: 8 additions & 0 deletions fuse/CHANGELOG.rst
Original file line number Diff line number Diff line change
@@ -11,6 +11,14 @@ Changelog for package fuse
* Update changelogs
* Contributors: Gary Servin

0.7.0 (2023-09-25)
------------------
* 0.6.0
* Update changelogs
* 0.5.0
* Update changelogs
* Contributors: Gary Servin

0.4.2 (2021-07-20)
------------------
* Adding roslint dependency to fuse_viz (`#231 <https://github.com/locusrobotics/fuse/issues/231>`_)
2 changes: 1 addition & 1 deletion fuse/package.xml
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package format="2">
<name>fuse</name>
<version>0.6.0</version>
<version>0.7.0</version>
<description>
The fuse metapackage
</description>
27 changes: 27 additions & 0 deletions fuse_constraints/CHANGELOG.rst
Original file line number Diff line number Diff line change
@@ -28,6 +28,33 @@ Changelog for package fuse_constraints
* Adding doxygen to all packages (#241)
* Contributors: Gary Servin, Stephen Williams, Tom Moore

0.7.0 (2023-09-25)
------------------
* [RST-7809] Fix optimization errors when the orientation is initialized at +PI (#334)
* Add some unit tests for the 2D orientation constraints; Create getters/setters for the 2D orientation variable is preparation for a fix.
* Force the 2D orientation value to be is minimum phase
* Minor header fixes (#266)
* Use fuse_macros.h instead of deprecated macros.h
* Add missed header
* Sort headers
* Update devel to build on Ubuntu Jammy (22.04) (#326)
* Update to C++17 for use with Ubuntu Jammy
* Include Rviz and Eigen as system includes, which supresses warnings within the included libraries
* use pluginlib and class_list_macros .hpp include instead of deprecated .h From: Lucas Walter <wsacul@gmail.com>
* 0.6.0
* Update changelogs
* 0.5.0
* Update changelogs
* [RST-4186] Fix fuse macro names (#263)
* Namespace all macros with the FUSE\_ prefix. Mark original macros as deprecated.
* Update all fuse objects to use the new macro names
* [RST-4390] Allow variables to be held constant during optimization (#243)
* Add support for holding variables constant
* Create a 'fixed' landmark
* Added initial support for marginalizing constant variables
* Adding doxygen to all packages (#241)
* Contributors: Enrique Fernandez Perdomo, Gary Servin, Stephen Williams, Tom Moore

0.4.2 (2021-07-20)
------------------
* Adding roslint dependency to fuse_viz (`#231 <https://github.com/locusrobotics/fuse/issues/231>`_)
87 changes: 70 additions & 17 deletions fuse_constraints/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -44,6 +44,8 @@ add_library(${PROJECT_NAME}
src/absolute_orientation_3d_stamped_euler_constraint.cpp
src/absolute_pose_2d_stamped_constraint.cpp
src/absolute_pose_3d_stamped_constraint.cpp
src/absolute_pose_3d_stamped_euler_constraint.cpp
src/fixed_3d_landmark_constraint.cpp
src/marginal_constraint.cpp
src/marginal_cost_function.cpp
src/marginalize_variables.cpp
@@ -56,6 +58,7 @@ add_library(${PROJECT_NAME}
src/relative_orientation_3d_stamped_constraint.cpp
src/relative_pose_2d_stamped_constraint.cpp
src/relative_pose_3d_stamped_constraint.cpp
src/relative_pose_3d_stamped_euler_constraint.cpp
src/uuid_ordering.cpp
src/variable_constraints.cpp
)
@@ -78,7 +81,7 @@ target_link_libraries(${PROJECT_NAME}
)
set_target_properties(${PROJECT_NAME}
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -135,7 +138,33 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

# Absolute Orientation 2D Stamped Constraint Tests
catkin_add_gtest(test_absolute_orientation_2d_stamped_constraint
test/test_absolute_orientation_2d_stamped_constraint.cpp
)
add_dependencies(test_absolute_orientation_2d_stamped_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_absolute_orientation_2d_stamped_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(test_absolute_orientation_2d_stamped_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
${EIGEN3_LIBRARIES}
)
set_target_properties(test_absolute_orientation_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -161,7 +190,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_orientation_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -187,7 +216,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_orientation_3d_stamped_euler_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -211,7 +240,31 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_pose_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

# Fixed 3D Landmark Constraint Tests
catkin_add_gtest(test_fixed_3d_landmark_constraint
test/test_fixed_3d_landmark_constraint.cpp
)
add_dependencies(test_fixed_3d_landmark_constraint
${catkin_EXPORTED_TARGETS}
)
target_include_directories(test_fixed_3d_landmark_constraint
PRIVATE
include
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
target_link_libraries(test_fixed_3d_landmark_constraint
${PROJECT_NAME}
${catkin_LIBRARIES}
${CERES_LIBRARIES}
)
set_target_properties(test_fixed_3d_landmark_constraint
PROPERTIES
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -235,7 +288,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_absolute_pose_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -257,7 +310,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_marginal_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -280,7 +333,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_marginalize_variables
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -304,7 +357,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_normal_delta_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -328,7 +381,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_normal_prior_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -352,7 +405,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -376,7 +429,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_pose_2d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -400,7 +453,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_relative_pose_3d_stamped_constraint
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -419,7 +472,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_uuid_ordering
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -436,7 +489,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(test_variable_constraints
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)

@@ -458,7 +511,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(benchmark_normal_delta_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)
endif()
@@ -477,7 +530,7 @@ if(CATKIN_ENABLE_TESTING)
)
set_target_properties(benchmark_normal_prior_pose_2d
PROPERTIES
CXX_STANDARD 14
CXX_STANDARD 17
CXX_STANDARD_REQUIRED YES
)
endif()
36 changes: 36 additions & 0 deletions fuse_constraints/fuse_plugins.xml
Original file line number Diff line number Diff line change
@@ -11,6 +11,18 @@
the 2D linear acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular acceleration, or a direct measurement of
the 3D angular acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteAccelerationLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear acceleration, or a direct measurement of
the 3D linear acceleration.
</description>
</class>
<class type="fuse_constraints::AbsoluteOrientation2DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 2D orientation, or a direct measurement of the
@@ -41,6 +53,18 @@
the 2D linear velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityAngular3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D angular velocity, or a direct measurement of
the 3D angular velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteVelocityLinear3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D linear velocity, or a direct measurement of
the 3D linear velocity.
</description>
</class>
<class type="fuse_constraints::AbsoluteOrientation3DStampedConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D orientation, or a direct measurement of the
@@ -63,6 +87,12 @@
A constraint that represents either prior information about a 3D pose, or a direct measurement of the 3D pose.
</description>
</class>
<class type="fuse_constraints::AbsolutePose3DStampedEulerConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents either prior information about a 3D pose, or a direct measurement of the 3D pose,
with the 3D orientation as roll-pitch-yaw Euler angles.
</description>
</class>
<class type="fuse_constraints::MarginalConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents remaining marginal information on a set of variables.
@@ -118,4 +148,10 @@
A constraint that represents a measurement on the difference between two 3D poses.
</description>
</class>
<class type="fuse_constraints::RelativePose3DStampedEulerConstraint" base_class_type="fuse_core::Constraint">
<description>
A constraint that represents a measurement on the difference between two 3D poses with the 3D orientation
as roll-pitch-yaw Euler angles.
</description>
</class>
</library>
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