Port support for Ceres 2.1.0 Manifold class into ROS 2 Rolling #366
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* 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
carlos-m159
approved these changes
Apr 19, 2024
DavidLocus
approved these changes
Apr 19, 2024
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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. |
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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
ironbranch. ROS 2 Iron builds on Jammy.