Update cartographer to deal with newer ceres #24
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Signed-off-by: zjwoody <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Otherwise modern gcc complains that these are possibly used uninitialized. Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
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In particular, newer versions of Ceres have removed
ceres::LocalParameterization, and you are now expected to useceres::Manifoldinstead.I took cartographer-project#1882 as a starting point. I then modified things so that this would work with both older ceres (that has
ceres::LocalParameterization) and newer ceres (that only hasceres::Manifold). I was perhaps overly cautious here, in that I made sure to make no changes for older ceres with the #ifdef sections; the new code is only ever activated for newer ceres. The reasoning for that was to make sure that this still works for e.g. Humble and Iron, and that there are definitely no regressions there.I also added a few more changes to fix up some spurious warnings in CMake and in Eigen. The result should be a successful build on both Ubuntu 22.04 and Ubuntu 24.04.