Initial commit of ros melodic cartographer

3 files changed, 146 insertions, 0 deletions

diff --git a/.SRCINFO b/.SRCINFO
new file mode 100644
index 000000000000..78a98a1c1d0a
--- /dev/null
+++ b/.SRCINFO
@@ -0,0 +1,36 @@
+pkgbase = ros-melodic-cartographer
+	pkgdesc = ROS - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
+	pkgver = 1.0.0
+	pkgrel = 1
+	url = https://github.com/googlecartographer/cartographer
+	arch = any
+	license = Apache 2.0
+	makedepends = cmake
+	makedepends = ros-build-tools
+	makedepends = ros-melodic-catkin
+	makedepends = boost
+	makedepends = google-glog
+	makedepends = protobuf
+	makedepends = cairo
+	makedepends = lua52
+	makedepends = python-sphinx
+	makedepends = gcc
+	makedepends = gflags
+	makedepends = eigen3
+	makedepends = ceres-solver
+	makedepends = gmock
+	depends = boost
+	depends = google-glog
+	depends = protobuf
+	depends = cairo
+	depends = lua52
+	depends = gflags
+	depends = eigen3
+	depends = ceres-solver
+	source = ros-melodic-cartographer-1.0.0.tar.gz::https://github.com/ros-gbp/cartographer-release/archive/release/melodic/cartographer/1.0.0.tar.gz
+	source = FindGMock.patch
+	sha256sums = 0b1979462b1715efc762f27bfb1b69fe659c269df96934baee12928b47b7cc9f
+	sha256sums = a109c0927cff5d0a9d8ad7d0f676ce0c3af81a1aa39b88b16a030431cde2cbb4
+
+pkgname = ros-melodic-cartographer
+
diff --git a/FindGMock.patch b/FindGMock.patch
new file mode 100644
index 000000000000..b926468b7c07
--- /dev/null
+++ b/FindGMock.patch
@@ -0,0 +1,28 @@
+diff --unified --recursive cartographer-release-release-melodic-cartographer/cmake/modules/FindGMock.cmake cartographer-release-release-melodic-cartographer.new/cmake/modules/FindGMock.cmake
+--- cartographer-release-release-melodic-cartographer/cmake/modules/FindGMock.cmake	2018-06-01 14:10:29.000000000 +0200
++++ cartographer-release-release-melodic-cartographer.new/cmake/modules/FindGMock.cmake	2020-01-16 14:53:20.965570375 +0100
+@@ -31,6 +31,15 @@
+       /usr
+   )
+ 
++  find_library(GTEST_LIBRARIES
++    NAMES gtest
++    PATH_SUFFIXES lib
++  )
++  find_library(GMOCK_A_LIBRARIES
++    NAMES gmock
++    PATH_SUFFIXES lib
++  )
++
+   # Find system-wide gtest header.
+   find_path(GTEST_INCLUDE_DIRS gtest/gtest.h
+     HINTS
+@@ -65,7 +74,7 @@
+ 
+   # System-wide installed gmock library might require pthreads.
+   find_package(Threads REQUIRED)
+-  list(APPEND GMOCK_LIBRARIES ${CMAKE_THREAD_LIBS_INIT})
++  list(APPEND GMOCK_LIBRARIES ${GMOCK_A_LIBRARIES} ${GTEST_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
+ endif()
+ 
+ include(FindPackageHandleStandardArgs)
diff --git a/PKGBUILD b/PKGBUILD
new file mode 100644
index 000000000000..15b262b76cb5
--- /dev/null
+++ b/PKGBUILD
@@ -0,0 +1,82 @@
+# Script generated with create_pkgbuild.py
+    # For more information: https://github.com/ros-melodic-arch/ros-build-tools-py3
+    pkgdesc="ROS - Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations."
+    url='https://github.com/googlecartographer/cartographer'
+
+    pkgname='ros-melodic-cartographer'
+    pkgver='1.0.0'
+    arch=('any')
+    pkgrel=1
+    license=('Apache 2.0')
+
+    ros_makedepends=(ros-melodic-catkin)
+    makedepends=('cmake' 'ros-build-tools'
+    ${ros_makedepends[@]}
+    boost
+  google-glog
+  protobuf
+  cairo
+  lua52
+  python-sphinx
+  gcc
+  gflags
+  eigen3
+  ceres-solver
+  gmock)
+
+    ros_depends=()
+    depends=(${ros_depends[@]}
+    boost
+  google-glog
+  protobuf
+  cairo
+  lua52
+  gflags
+  eigen3
+  ceres-solver)
+    
+    # Tarball version (faster download)
+    _dir="cartographer-release-release-melodic-cartographer"
+    source=("${pkgname}-${pkgver}.tar.gz"::"https://github.com/ros-gbp/cartographer-release/archive/release/melodic/cartographer/${pkgver}.tar.gz" FindGMock.patch)
+    sha256sums=('0b1979462b1715efc762f27bfb1b69fe659c269df96934baee12928b47b7cc9f')
+
+    prepare() {
+      cd "$srcdir/$_dir"
+      patch --forward --strip=1 --input="${srcdir}/FindGMock.patch"
+    }
+
+    build() {
+        # Use ROS environment variables
+        source /usr/share/ros-build-tools/clear-ros-env.sh
+        [ -f /opt/ros/melodic/setup.bash ] && source /opt/ros/melodic/setup.bash
+
+        # Create build directory
+        [ -d ${srcdir}/build ] || mkdir ${srcdir}/build
+        cd ${srcdir}/build
+
+        # Fix Python2/Python3 conflicts
+        /usr/share/ros-build-tools/fix-python-scripts.sh -v 3 ${srcdir}/${_dir}
+	
+	rm -f ${srcdir}/${_dir}/cartographer/mapping/3d/hybrid_grid_test.cc
+
+        # Build project
+        cmake ${srcdir}/${_dir} \
+                -DCMAKE_BUILD_TYPE=Release \
+		-DCATKIN_ENABLE_TESTING=0 \
+                -DCATKIN_BUILD_BINARY_PACKAGE=ON \
+                -DCMAKE_INSTALL_PREFIX=/opt/ros/melodic \
+                -DPYTHON_EXECUTABLE=/usr/bin/python3 \
+                -DPYTHON_INCLUDE_DIR=/usr/include/python3.7m \
+                -DPYTHON_LIBRARY=/usr/lib/libpython3.7m.so \
+                -DPYTHON_BASENAME=.cpython-37m \
+                -DSETUPTOOLS_DEB_LAYOUT=OFF
+    make
+    }
+
+    package() {
+    cd "${srcdir}/build"
+    make DESTDIR="${pkgdir}/" install
+    }
+    
+sha256sums=('0b1979462b1715efc762f27bfb1b69fe659c269df96934baee12928b47b7cc9f'
+            'a109c0927cff5d0a9d8ad7d0f676ce0c3af81a1aa39b88b16a030431cde2cbb4')