Imported upstream version '1.1.0' of 'upstream'

ros2-gbp · Aug 18, 2024 · 2d8d149 · 2d8d149
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diff --git a/.clang-format b/.clang-format
@@ -36,7 +36,7 @@ AllowShortBlocksOnASingleLine: true
 BreakBeforeBraces: Allman
 #BreakBeforeTernaryOperators: true
 #BreakConstructorInitializersBeforeComma: false
-ColumnLimit: 80
+ColumnLimit: 100
 #CommentPragmas:  ''
 #ConstructorInitializerAllOnOneLineOrOnePerLine: true
 #ConstructorInitializerIndentWidth: 4

diff --git a/.github/workflows/build-ros.yml b/.github/workflows/build-ros.yml
@@ -1,7 +1,7 @@
 # Based on GTSAM file (by @ProfFan)
 name: CI Build colcon
 
-on: [push, pull_request]
+on: [push]
 
 jobs:
   build_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
@@ -42,9 +42,9 @@ jobs:
             ros_version: 2
 
           # Rolling Ridley (No End-Of-Life)
-#          - docker_image: ubuntu:noble
-#            ros_distribution: rolling
-#            ros_version: 2
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
 
     container:
       image: ${{ matrix.docker_image }}
@@ -55,6 +55,9 @@ jobs:
           apt-get -y update
           apt-get -y install git
           git clone https://github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE"
+          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          git checkout $GITHUB_SHA
+          git submodule update --init --recursive
 
       - name: setup ROS environment
         uses: ros-tooling/[email protected]

diff --git a/README.md b/README.md
@@ -50,9 +50,19 @@ Refer to the [official documentation](https://docs.mola-slam.org/latest/) for bu
 
 ## Citations
 
-The latest publications on MOLA are: 
+The latest publications on MOLA are ([PDF](https://arxiv.org/abs/2407.20465)).
 
-    mola_lidar_odometry: (TBD 2024-Q2!!)
+```bibtex
+@misc{blanco2024mola,
+      title={A flexible framework for accurate LiDAR odometry, map manipulation, and localization},
+      author={José Luis Blanco-Claraco},
+      year={2024},
+      eprint={2407.20465},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2407.20465},
+}
+```
 
 MOLA was initially presented in 2019 in ([PDF](http://www.roboticsproceedings.org/rss15/p43.pdf)):
 

diff --git a/docs/source/building-maps.rst b/docs/source/building-maps.rst
@@ -118,6 +118,8 @@ or from the :ref:`UI controls <mola_lo_gui_common_parts>` in the ``mola_lidar_od
 |
 
 
+.. _building-maps_sect_inspect_sm:
+
 3. Inspect the resulting simple-map
 ----------------------------------------
 To verify that the generated simple-map is correct, you can use :ref:`sm-cli <app_sm-cli>`.

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -53,7 +53,7 @@ MOLA
 :octicon:`mark-github` `MOLA`_ is a Modular system for Localization and Mapping.
 
 Get started:
- - Read the tutorial: :ref:`building-maps`.
+ - Read: :ref:`building-maps`.
  - Read :octicon:`rocket` :ref:`mola_lidar_odometry` documentation.
  - See :ref:`use-cases` for examples of use.
  - See :ref:`installing` and :ref:`how to cite it <citing_mola>`.
@@ -67,6 +67,55 @@ Get started:
 
 |
 
+.. humble badges ------
+
+.. |badgeHdev| image:: https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/badge/icon
+   :scale: 100%
+   :align: middle
+   :target: https://build.ros2.org/job/Hdev__mola__ubuntu_jammy_amd64/
+
+.. |badgeHrel| image:: https://img.shields.io/ros/v/humble/mola
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola
+
+.. iron badges ------
+
+.. |badgeIdev| image:: https://build.ros2.org/job/Idev__mola__ubuntu_jammy_amd64/badge/icon
+   :scale: 100%
+   :align: middle
+   :target: https://build.ros2.org/job/Idev__mola__ubuntu_jammy_amd64/
+
+.. |badgeIrel| image:: https://img.shields.io/ros/v/iron/mola
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola
+
+.. jazzy badges ------
+
+.. |badgeJdev| image:: https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/badge/icon
+   :scale: 100%
+   :align: middle
+   :target: https://build.ros2.org/job/Jdev__mola__ubuntu_noble_amd64/
+
+.. |badgeJrel| image:: https://img.shields.io/ros/v/jazzy/mola
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola
+
+.. rolling badges ------
+
+.. |badgeRdev| image:: https://build.ros2.org/job/Rdev__mola__ubuntu_noble_amd64/badge/icon
+   :scale: 100%
+   :align: middle
+   :target: https://build.ros2.org/job/Rdev__mola__ubuntu_noble_amd64/
+
+.. |badgeRrel| image:: https://img.shields.io/ros/v/rolling/mola
+   :scale: 100%
+   :align: middle
+   :target: https://index.ros.org/search/?term=mola
+
+
 .. _installing:
 
 Installing
@@ -89,7 +138,9 @@ How to install all MOLA modules:
         sudo apt install ros-$ROS_DISTRO-mola
         
         # Install the MOLA LIDAR odometry package:
-        sudo apt install ros-$ROS_DISTRO-mola-lidar-odometry
+        # sudo apt install ros-$ROS_DISTRO-mola-lidar-odometry
+        # As of Jul 2024, this package is not available from apt yet! 
+        # Please see instructions below to clone and build it from sources
 
         # Install example small datasets to run demos/unit tests:
         sudo apt install ros-$ROS_DISTRO-mola-test-datasets
@@ -98,15 +149,23 @@ How to install all MOLA modules:
 
     .. code-block:: bash
 
-        cd ~/ros2_mola_ws/
-        . install/setup.bash
-
         # For example, let's launch the mm map viewer. 
         # If a GUI app is opened, it means installation was successful.
         mm-viewer
 
-    Check the `build status table <https://github.com/MOLAorg/mola>`_ to find out
-    what MOLA version is available for your ROS distribution.
+    These are the versions available from ROS build farms:
+
+    +-------------------------+-----------------------------+------------------------------------+
+    | ROS distribution        | Development build status    | Last release (available via apt)   |
+    +=========================+=============================+====================================+
+    | ROS 2 Humble (u22.04)   |    |badgeHdev|              |     |badgeHrel|                    |
+    +-------------------------+-----------------------------+------------------------------------+
+    | ROS 2 Iron (u22.04)     |    |badgeIdev|              |     |badgeIrel|                    |
+    +-------------------------+-----------------------------+------------------------------------+
+    | ROS 2 Jazzy (u24.04)    |    |badgeJdev|              |     |badgeJrel|                    |
+    +-------------------------+-----------------------------+------------------------------------+
+    | ROS 2 Rolling (u24.04)  |    |badgeRdev|              |     |badgeRrel|                    |
+    +-------------------------+-----------------------------+------------------------------------+
 
 
 .. dropdown:: Build from sources
@@ -129,9 +188,6 @@ How to install all MOLA modules:
         mkdir -p ~/ros2_mola_ws/src/ 
         cd ~/ros2_mola_ws/src/
 
-        # Optional: Get latest version of mrpt2.
-        # git clone https://github.com/MRPT/mrpt.git mrpt2 --recursive
-
         # Main MOLA modules:
         git clone https://github.com/MOLAorg/mola_common.git
         git clone https://github.com/MOLAorg/mp2p_icp.git --recursive
@@ -186,7 +242,7 @@ The ``mola_lidar_odometry`` system was presented in :cite:`blanco2024mola_lo`:
   `A flexible framework for accurate LiDAR odometry, map manipulation, and localization`_, in
   ArXiV, 2024.
 
-.. _A flexible framework for accurate LiDAR odometry, map manipulation, and localization: https://TBD
+.. _A flexible framework for accurate LiDAR odometry, map manipulation, and localization: https://arxiv.org/abs/2407.20465
 
 The basics of the MOLA framework were introduced in :cite:`blanco2019modular`.
 

diff --git a/docs/source/refs.bib b/docs/source/refs.bib
@@ -55,6 +55,7 @@ @article{blanco2024mola_lo
   title        = {{A flexible framework for accurate LiDAR odometry, map manipulation, and localization}},
   journal      = {ArXiV},
   year         = {2024},
+  url          = {https://arxiv.org/abs/2407.20465}
 }
 
 @article{blanco2018olae,

diff --git a/docs/source/solutions.rst b/docs/source/solutions.rst
@@ -1,14 +1,14 @@
 .. _solutions:
 
 =========================
-Solutions and pricing
+Solutions and licensing
 =========================
 
 Solutions
 ===============
 
-1. Flexible LIDAR odometry and Localization
-------------------------------------------
+1. Flexible 3D LIDAR odometry and Localization
+------------------------------------------------
 :ref:`LiDAR odometry <mola_lidar_odometry>` is one of the most advanced and flexible LIDAR odometry modules out there.
 Check out the tutorial: :ref:`building-maps`.
 
@@ -17,17 +17,39 @@ Check out the tutorial: :ref:`building-maps`.
 
 |
 
+2. Full 3D SLAM solution (GNSS, submapping, loop closures)
+------------------------------------------------------------
 
+Build **geo-referenced** consistent global maps, even mixing indoor and outdoor scenarios.
+This functionality is provided by:
 
-2. Full SLAM solution (GNSS, submapping, loop closures)
---------------------------------------------------------
+- ``mola_sm_loop_closure``: TO-DO: add docs.
+  At present, this package is not open-sourced, see: :ref:`mola_licenses`.
+
+  - **Geo-referencing** metric maps with consumer-grade GNSS sensors.
+  - Off-line **loop closure** for consistent global maps.
+
+- ``mola_3d_lidar_slam``: (Coming soon!)
 
-Build **geo-referenced** consistent global maps, even mixing indoor and outdoor scenarios.
 
 .. image:: https://mrpt.github.io/imgs/kaist01_georef_sample.png
 
+
+|
+
+3. Full 2D SLAM solution
+----------------------------
+
+Build **geo-referenced** consistent global 2D maps from 2D LiDARs.
+This functionality is provided by:
+
+- ``mola_2d_lidar_slam``: (Coming soon!)
+
+
 |
 
+.. _mola_licenses:
+
 License and pricing
 =====================
 The complete framework comprises these software repositories:
@@ -91,7 +113,7 @@ The complete framework comprises these software repositories:
 
 Contact
 ===========
-To request details on **licensing a closed-source version for commercial usages** and/or **consulting services**, please use the contact form below:
+To request details on **licensing a closed-source version for commercial usages** and/or **consulting services**, please use `this contact form <https://docs.google.com/forms/d/e/1FAIpQLSdgFfPclN7MuB4uKIbENxUDgC-pmimcu_PGcq5-vAALjUAOrg/viewform?usp=sf_link>`_:
 
 .. raw:: html
 

diff --git a/kitti_metrics_eval/CHANGELOG.rst b/kitti_metrics_eval/CHANGELOG.rst
@@ -3,6 +3,13 @@ Changelog for package kitti_metrics_eval
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.0 (2024-08-18)
+------------------
+* Merge pull request `#62 <https://github.com/MOLAorg/mola/issues/62>`_ from MOLAorg/docs-fixes
+  Docs fixes
+* Fix ament_xmllint warnings in package.xml
+* Contributors: Jose Luis Blanco-Claraco
+
 1.0.8 (2024-07-29)
 ------------------
 * ament_lint_cmake: clean warnings

diff --git a/kitti_metrics_eval/package.xml b/kitti_metrics_eval/package.xml
@@ -5,15 +5,14 @@
 -->
 <package format="3">
   <name>kitti_metrics_eval</name>
-  <version>1.0.8</version>
+  <version>1.1.0</version>
   <description>CLI tool to evaluate the KITTI odometry bechmark metrics to trajectory files</description>
 
-  <author     email="[email protected]">Jose-Luis Blanco-Claraco</author>
   <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
+  <license file="LICENSE">BSD</license>
 
   <url type="website">https://github.com/MOLAorg/mola/tree/develop/kitti_metrics_eval</url>
 
-  <license file="LICENSE">BSD</license>
 
   <depend>mola_common</depend>
   <depend>mrpt2</depend>

diff --git a/mola/CHANGELOG.rst b/mola/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package mola
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.1.0 (2024-08-18)
+------------------
+* Merge pull request `#62 <https://github.com/MOLAorg/mola/issues/62>`_ from MOLAorg/docs-fixes
+  Docs fixes
+* Fix ament_xmllint warnings in package.xml
+* change ament linters to apply in test builds
+* Contributors: Jose Luis Blanco-Claraco
+
 1.0.8 (2024-07-29)
 ------------------
 

diff --git a/mola/package.xml b/mola/package.xml
@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>mola</name>
-  <version>1.0.8</version>
+  <version>1.1.0</version>
   <description>Metapackage with all core open-sourced MOLA packages.</description>
+
   <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
-  <author>Jose-Luis Blanco-Claraco</author>
   <license file="LICENSE">BSD</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -32,8 +32,9 @@
   <depend>mola_viz</depend>
   <depend>mola_yaml</depend>
 
-  <depend>ament_lint_common</depend>
-  <depend>ament_lint_auto</depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_cmake_xmllint</test_depend>
+  <test_depend>ament_lint_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/mola_bridge_ros2/.clang-format b/mola_bridge_ros2/.clang-format
@@ -36,7 +36,7 @@ AllowShortBlocksOnASingleLine: true
 BreakBeforeBraces: Allman
 #BreakBeforeTernaryOperators: true
 #BreakConstructorInitializersBeforeComma: false
-ColumnLimit: 80
+ColumnLimit: 100
 #CommentPragmas:  ''
 #ConstructorInitializerAllOnOneLineOrOnePerLine: true
 #ConstructorInitializerIndentWidth: 4

diff --git a/mola_bridge_ros2/CHANGELOG.rst b/mola_bridge_ros2/CHANGELOG.rst
@@ -3,6 +3,19 @@ Changelog for package mola_bridge_ros2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+1.1.0 (2024-08-18)
+------------------
+* Merge pull request `#65 <https://github.com/MOLAorg/mola/issues/65>`_ from MOLAorg/add-more-srvs
+  Add more Services
+* Offer ROS2 services for the new MOLA MapServer interface
+* clang-format: switch to 100 columns
+* ros2bridge: offer ROS2 services for relocalization
+* Merge pull request `#62 <https://github.com/MOLAorg/mola/issues/62>`_ from MOLAorg/docs-fixes
+  Docs fixes
+* Fix ament_xmllint warnings in package.xml
+* change ament linters to apply in test builds
+* Contributors: Jose Luis Blanco-Claraco
+
 1.0.8 (2024-07-29)
 ------------------
 * ament_lint_cmake: clean warnings
-Original file line number
+Diff line change
@@ Expand Up @@
     |
+    .. _building-maps_sect_inspect_sm:
 . Inspect the resulting simple-map
     ----------------------------------------
     To verify that the generated simple-map is correct, you can use :ref:`sm-cli <app_sm-cli>`.
@@ Expand Down @@