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Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling #366

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merged 3 commits into from
Apr 20, 2024

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svwilliams
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@svwilliams svwilliams commented Apr 17, 2024

Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling.
See the ROS 1 PRs for more details

This should be the same changes as the ROS 1 PR. However, because of the file name changes and formatting changes between ROS 1 and ROS 2, cherry-picking the changes didn't exactly go smoothly. Additionally, ROS 2 Rolling is now being built against Ubuntu Noble, so there are some minor GCC changes required. And the ROS 2 formatting rules have updated slightly (most notably for macros), so there is quite a few pure formatting changes as well. I setup a docker container with the latest ROS 2 rolling image and this PR compiles and all tests pass. So give it a skim, but I wouldn't spend a ton of time worrying about it.

Also note that I will create a PR with the code changes but not the formatting changes that can be merged into the new iron branch. ROS 2 Iron builds on Jammy.

* Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
* General clean up for Ceres 2.2.0 support
* Updated serialization support to be backwards compatible with previously serialized files
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Unit test failures are all related to uncrustify. The formatting rules for ROS 2 Rolling / Ubuntu Noble have changed slightly, but our CI system is still using the Ubuntu Jammy version.

@svwilliams svwilliams merged commit 6c79b2a into rolling Apr 20, 2024
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@svwilliams svwilliams deleted the gcc12-ceres-2.1.0-manifold-rolling branch April 20, 2024 16:55
giafranchini pushed a commit to giafranchini/fuse that referenced this pull request Oct 22, 2024
…robotics#366)

* Support gcc12 and ceres 2.1.0
* Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
* General clean up for Ceres 2.2.0 support
* Updated serialization support to be backwards compatible with previously serialized files
* Formatting changes required for ROS 2 Rolling / Ubuntu Noble
giafranchini pushed a commit to giafranchini/fuse that referenced this pull request Nov 2, 2024
…robotics#366)

* Support gcc12 and ceres 2.1.0
* Add support for the Manifold class when using Ceres Solver version 2.1.0 and above
* General clean up for Ceres 2.2.0 support
* Updated serialization support to be backwards compatible with previously serialized files
* Formatting changes required for ROS 2 Rolling / Ubuntu Noble
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3 participants