Merge pull request #1231 from MRPT/develop

Merge for release 2.4.5

CMakeLists.txt

@@ -279,7 +279,7 @@ include(cmakemodules/script_openni2.cmake REQUIRED)     # Check for the OpenNI2
 include(cmakemodules/script_pcap.cmake REQUIRED)        # Check for the libpcap library
 include(cmakemodules/script_phidget.cmake REQUIRED)     # Support for phidget Interface Kit with proximity sensor device :
 include(cmakemodules/script_qt.cmake REQUIRED)          # Check for wxWidgets + GL
-include(cmakemodules/script_ros1.cmake REQUIRED)        # Check for ROS1
+include(cmakemodules/script_ros.cmake REQUIRED)        # Check for ROS1 / ROS2
 include(cmakemodules/script_SIMD.cmake REQUIRED)        # SSE2/SSE3/... optimization options
 include(cmakemodules/script_simpleini.cmake REQUIRED)   # SimpleINI lib
 include(cmakemodules/script_suitesparse.cmake REQUIRED) # SuiteSparse libs
@@ -626,7 +626,13 @@ add_subdirectory(doc)
 if (DEFINED BUILD_TESTING)
 	set(_def_value ${BUILD_TESTING})
 else()
-	set(_def_value ON)
+	if ("$ENV{ROS_DISTRO}" STREQUAL "")
+		# Regular case:
+		set(_def_value ON)
+	else()
+		# We are in a ROS environment: disable tests by default to reduce build time in ROS build farms.
+		set(_def_value OFF)
+	endif()
 endif()
 set(MRPT_BUILD_TESTING ${_def_value} CACHE BOOL "Build MRPT tests")
 if(MRPT_BUILD_TESTING)

README.md

@@ -19,8 +19,8 @@
 <img align="right" src="https://mrpt.github.io/imgs/mrpt-videos-mix2.gif">
 
 Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
-in mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [3D(6D) geometry](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
-[probability density functions (pdfs)](https://docs.mrpt.org/reference/develop/classmrpt_1_1math_1_1_c_probability_density_function.html) over points, landmarks, poses and maps,
+in mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [2D and 3D spatial transformations](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
+[probability density functions (pdfs)](https://docs.mrpt.org/reference/latest/class_mrpt_math_CProbabilityDensityFunction.html) over points, landmarks, poses and maps,
 Bayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://reference.mrpt.org/devel/modules.html).
 MRPT also provides GUI apps for [Stereo camera calibration](https://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calib/), [dataset inspection](https://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/),
 and [much more](https://www.mrpt.org/list-of-mrpt-apps/).
@@ -30,14 +30,14 @@ and [much more](https://www.mrpt.org/list-of-mrpt-apps/).
   * Ask questions at: [this Google group](https://www.mrpt.org/forum/) or at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!)
   * [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/)
   * [C++ API reference](https://docs.mrpt.org/reference/)
-  * ROS packages: [`mrpt_navigation`](https://wiki.ros.org/mrpt_navigation), [`mrpt_slam`](https://wiki.ros.org/mrpt_slam)
+  * [ROS packages](https://docs.mrpt.org/reference/latest/wrappers.html#mrpt-ros-packages)
   * [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab)
-  * Source code for [dozens of examples](https://www.mrpt.org/tutorials/mrpt-examples/)
+  * Source code for [dozens of examples](https://docs.mrpt.org/reference/latest/examples.html)
   * Example configuration files for  MRPT applications can be found at:
      [MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files)
   * Some sample datasets are stored in:
      [MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets).
-    A more complete dataset repository is [available online](http://www.mrpt.org/robotics_datasets).
+    A more complete dataset repository is [available online](https://www.mrpt.org/robotics_datasets).
   * [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc.
   * MRPT is used in the [MOLA modular SLAM framework](https://github.com/MOLAorg/mola/).
 
@@ -80,7 +80,11 @@ sudo apt install ros-$ROS_DISTRO-mrpt2
 
 | Distro | `develop` branch  | Stable release |
 |---|---|---|
+| ROS1 Melodic @ u18.04 | [![Build Status](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/badge/icon)](https://build.ros.org/job/Mdev__mrpt2__ubuntu_bionic_amd64/) | [![Build Status](https://build.ros.org/job/Mbin_ubv8_uBv8__mrpt2__ubuntu_bionic_arm64__binary/badge/icon)](https://build.ros.org/job/Mbin_ubv8_uBv8__mrpt2__ubuntu_bionic_arm64__binary/) |
 | ROS1 Noetic @ u20.04 | [![Build Status](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros.org/job/Ndev__mrpt2__ubuntu_focal_amd64/) | [![Build Status](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/badge/icon)](https://build.ros.org/job/Nbin_uF64__mrpt2__ubuntu_focal_amd64__binary/) |
+| ROS2 Foxy @ u20.04 | [![Build Status](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Fdev__mrpt2__ubuntu_focal_amd64/) | |
+| ROS2 Galactic @ u20.04 | [![Build Status](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/badge/icon)](https://build.ros2.org/job/Gdev__mrpt2__ubuntu_focal_amd64/) | |
+| ROS2 Humble @ u22.04 | [![Build Status](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Hdev__mrpt2__ubuntu_jammy_amd64/) | |
 | ROS2 Rolling @ u22.04 | [![Build Status](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/badge/icon)](https://build.ros2.org/job/Rdev__mrpt2__ubuntu_jammy_amd64/) | [![Build Status](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/badge/icon)](https://build.ros2.org/job/Rbin_uJ64__mrpt2__ubuntu_jammy_amd64__binary/) |
 
 ## 4. License