fix building on Ubuntu 24.04 #687
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SteveMacenski
requested changes
Apr 21, 2024
LocalParameterization is deprecated in Ceres 2.1.0 and dropped in 2.2.0. This commit fixes slam_toolbox build on Ubuntu 24.04. The code are taken from the official slam/pose_graph_2d example: https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.2.0/examples/slam/pose_graph_2d/ Signed-off-by: Chuanhong Guo <gch981213@gmail.com>
SteveMacenski
approved these changes
Apr 22, 2024
5 tasks
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Any plans to merge this to the default |
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Yup, I was just at this. The PR started before Nav2 was reasonably along for 24.04 but it is now and we've had the opportunity to test it with some simulation with Nav2 interaction this week from Ben. So, this is good to ship 👍 |
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Thanks @981213 for the PR and help! Sorry for the delay |
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Ubuntu 24.04 updates Ceres Solver to 2.2.0 which dropped support for LocalParameterization and suggests users to move to Manifold instead.
This commit fixes slam_toolbox build on Ubuntu 24.04 and simultaneously breaks it for Ubuntu 22.04 with Ceres 2.0.0
The code are copied from the official slam/pose_graph_2d example:
https://ceres-solver.googlesource.com/ceres-solver/+/refs/tags/2.2.0/examples/slam/pose_graph_2d/
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