Syncing from upstream remote

.dockerignore

@@ -1,4 +1,3 @@
 **/Dockerfile*
 **/.dockerignore
 **/.git
-**/.travis.yml

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,14 +1,2 @@
-Want to contribute? Great! Make sure you've read, understood and considered all
-the points below before creating your PR:
-
-- Keep your PR under 200 lines of code and address a single concern.
-- Add unit test(s) and documentation (these do not count toward your 200 lines).
-- Adhere to the [Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
-- Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
-- Keep rebasing (or merging) of master branch to a minimum. It triggers Travis
-  runs for every update which blocks merging of other changes. Our merge bot
-  will rebase your branch, reformat your source code and merge as the last step
-  in the review process.
-- Please replace this template text with the commit message you want for your
-  PR. You and/or the reviewer should keep it updated during the course of the
-  review using the GitHub edit feature.
+Want to contribute? Great! Make sure you've read and understood
+[CONTRIBUTING.md](https://github.com/cartographer-project/cartographer/blob/master/CONTRIBUTING.md).

.github/workflows/ci-bionic.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 18.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.bionic

.github/workflows/ci-bullseye.yaml

@@ -0,0 +1,15 @@
+name: Debian Bullseye CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.bullseye

.github/workflows/ci-buster.yaml

@@ -0,0 +1,15 @@
+name: Debian Buster CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.buster

.github/workflows/ci-focal.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 20.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.focal

.github/workflows/ci-jammy.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 22.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.jammy

CHANGELOG.rst

@@ -2,8 +2,12 @@
 Changelog for package cartographer
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.0 (2021-03-09)
+------------------
+https://github.com/cartographer-project/cartographer/compare/1.0.0...2.0.0
+
 1.0.0 (2018-06-01)
-----------------------
+------------------
 https://github.com/googlecartographer/cartographer/compare/0.3.0...1.0.0
 
 0.3.0 (2017-11-23)

CMakeLists.txt

@@ -29,7 +29,7 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
 google_initialize_cartographer_project()
 google_enable_testing()
 
-find_package(Abseil REQUIRED)
+find_package(absl REQUIRED)
 set(BOOST_COMPONENTS iostreams)
 if(WIN32)
   list(APPEND BOOST_COMPONENTS zlib)
@@ -268,7 +268,20 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${PROTOBUF_INCLUDE_DIR})
 # TODO(hrapp): This should not explicitly list pthread and use
 # PROTOBUF_LIBRARIES, but that failed on first try.
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
+  absl::algorithm
+  absl::base
+  absl::debugging
+  absl::flat_hash_map
+  absl::memory
+  absl::meta
+  absl::numeric
+  absl::str_format
+  absl::strings
+  absl::synchronization
+  absl::time
+  absl::utility 
+)
 if (NOT WIN32)
   target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
 endif()

CONTRIBUTING.md

@@ -1,27 +1,51 @@
-Want to contribute? Great! First, read this page (including the small print at the end).
+Want to contribute? Great! First, read this page.
 
 ### Before you contribute
-Before we can use your code, you must sign the
-[Google Individual Contributor License Agreement]
-(https://cla.developers.google.com/about/google-individual)
-(CLA), which you can do online. The CLA is necessary mainly because you own the
-copyright to your changes, even after your contribution becomes part of our
-codebase, so we need your permission to use and distribute your code. We also
-need to be sure of various other things—for instance that you'll tell us if you
-know that your code infringes on other people's patents. You don't have to sign
-the CLA until after you've submitted your code for review and a member has
-approved it, but you must do it before we can put your code into our codebase.
-Before you start working on a larger contribution, you should get in touch with
-us first through the issue tracker with your idea so that we can help out and
-possibly guide you. Coordinating up front makes it much easier to avoid
-frustration later on.
+
+Any contribution that you make to this repository will
+be under the Apache 2 License, as dictated by that
+[license](http://www.apache.org/licenses/LICENSE-2.0):
+
+```
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+```
+
+### Developer Certificate of Origin
+
+Contributors must sign-off each commit by adding a `Signed-off-by: ...`
+line to commit messages to certify that they have the right to submit
+the code they are contributing to the project according to the
+[Developer Certificate of Origin (DCO)](https://developercertificate.org/).
+You can sign-off a commit via `git commit -s`.
 
 ### Code reviews
-All submissions, including submissions by project members, require review. We
-use Github pull requests for this purpose.
-
-### The small print
-Contributions made by corporations are covered by a different agreement than
-the one above, the
-[Software Grant and Corporate Contributor License Agreement]
-(https://cla.developers.google.com/about/google-corporate).
+
+All submissions, including submissions by project members, require review.
+We use GitHub pull requests for this purpose. Make sure you've read,
+understood and considered all the points below before creating your PR.
+
+#### Style guide
+
+C++ code should adhere to the
+[Google C++ Style Guide](https://google.github.io/styleguide/cppguide.html).
+You can handle the formatting part of the style guide via `git clang-format`.
+
+#### Best practices
+
+When preparing your PR and also during the code review make sure to follow
+[best practices](https://google.github.io/eng-practices/review/developer/).
+Most importantly, keep your PR under 200 lines of code and address a single
+concern.
+
+#### Testing
+
+- Add unit tests and documentation (these do not count toward your 200 lines).
+- Run `ninja test` or `catkin_make_isolated --install --use-ninja --pkg cartographer --make-args test` as appropriate.
+- Keep rebasing (or merging) of master branch to a minimum. It triggers Travis
+  runs for every update which blocks merging of other changes.

Dockerfile.stretch → Dockerfile.bionic

@@ -1,4 +1,4 @@
-# Copyright 2016 The Cartographer Authors
+# Copyright 2020 The Cartographer Authors
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM debian:stretch
+FROM ubuntu:bionic
 
 ARG cc
 ARG cxx
@@ -21,13 +21,14 @@ ARG cxx
 ENV CC=$cc
 ENV CXX=$cxx
 
-# This base image doesn't ship with sudo.
-RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input.
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY . cartographer

Dockerfile.trusty → Dockerfile.bionic.grpc

@@ -1,4 +1,4 @@
-# Copyright 2016 The Cartographer Authors
+# Copyright 2020 The Cartographer Authors
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM ubuntu:trusty
+FROM ubuntu:bionic
 
 ARG cc
 ARG cxx
@@ -21,10 +21,14 @@ ARG cxx
 ENV CC=$cc
 ENV CXX=$cxx
 
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input.
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY scripts/install_grpc.sh cartographer/scripts/

Dockerfile.jessie → Dockerfile.bullseye

@@ -1,4 +1,4 @@
-# Copyright 2016 The Cartographer Authors
+# Copyright 2022 The Cartographer Authors
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM debian:jessie
+FROM debian:bullseye
 
 ARG cc
 ARG cxx
@@ -26,9 +26,5 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
-COPY scripts/install_proto3.sh cartographer/scripts/
-RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY . cartographer
 RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

Dockerfile.xenial → Dockerfile.buster

@@ -1,4 +1,4 @@
-# Copyright 2016 The Cartographer Authors
+# Copyright 2020 The Cartographer Authors
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -12,8 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
-FROM ubuntu:xenial
+FROM debian:buster
 
 ARG cc
 ARG cxx
@@ -27,9 +26,7 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
-COPY scripts/install_ceres.sh cartographer/scripts/
-RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
-COPY scripts/install_proto3.sh cartographer/scripts/
-RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY . cartographer
 RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer