Merge branch 'develop'

.lgtm.yml

@@ -13,7 +13,7 @@ extraction:
       - "libopencv-dev"
       - "libeigen3-dev"
       - "libgtest-dev"
-      - "libftdi-dev"
+      - "libftdi1-dev"
       - "freeglut3-dev"
       - "zlib1g-dev"
       - "libusb-1.0-0-dev"

apps/mrpt-performance/perf-icp.cpp

@@ -117,7 +117,7 @@ double icp_test_1(int a1, int a2)
 	}
 
 #if 0
-	mapBuilder.getCurrentlyBuiltMetricMap()->saveMetricMapRepresentationToFile( format("icp_%i_result",a1) );
+	mapBuilder.getCurrentlyBuiltMetricMap().saveMetricMapRepresentationToFile( format("icp_%i_result",a1) );
 #endif
 
 	if (!step) step++;

apps/robot-map-gui/gui/configWidget/CLandmarksConfig.ui

@@ -2323,16 +2323,7 @@
       </layout>
       <zorder>beaconRangesUseObservationStd</zorder>
       <zorder>label_5</zorder>
-      <zorder>layoutWidget_13</zorder>
       <zorder>groupBox</zorder>
-      <zorder>layoutWidget_15</zorder>
-      <zorder>layoutWidget_16</zorder>
-      <zorder>layoutWidget_17</zorder>
-      <zorder>layoutWidget_18</zorder>
-      <zorder>layoutWidget_20</zorder>
-      <zorder>layoutWidget_21</zorder>
-      <zorder>layoutWidget_22</zorder>
-      <zorder>layoutWidget_23</zorder>
       <zorder>groupBox_2</zorder>
      </widget>
     </widget>

appveyor.yml

@@ -1,5 +1,5 @@
 # version format
-version: 2.9.1-{branch}-build{build}
+version: 2.9.2-{branch}-build{build}
 
 os: Visual Studio 2019
 

cmakemodules/DeclareMRPTLib.cmake

@@ -54,37 +54,19 @@ endfunction()
 macro(mrpt_ament_cmake_python_get_python_install_dir)
   if(NOT DEFINED PYTHON_INSTALL_DIR)
 	# avoid storing backslash in cached variable since CMake will interpret it as escape character
-	# (JLBC,May2023): Replaced "purelib" -> "platstdlib" below to get rid of the "/local/" path prefix.
-	if(NOT DEFINED ENV{ROS_DISTRO})
-		# For debian packages: /usr/lib/python3/dist-packages/
-		# Read debates online:
-		# - https://stackoverflow.com/questions/122327/how-do-i-find-the-location-of-my-python-site-packages-directory
-		# - https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=998739
-		#
+
+	# (JLBC,June 2023): *Hack* to comply with ROS conventions of storing python pkgs differently than Debian/Ubuntu standards.
+	if(NOT DEFINED ENV{ROS_VERSION})
+		# Regular Debian package.
 		set(_output "lib/python3/dist-packages/")  # this is prefixed with "/usr/"
+	elseif("$ENV{ROS_VERSION}" STREQUAL "1")
+		# ROS 1
+		set(_output "lib/python3/dist-packages/")  # this is prefixed with "/opt/ros/xxx/"
+	elseif("$ENV{ROS_VERSION}" STREQUAL "2")
+		# ROS 2
+		set(_output "lib/python${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR}/site-packages/")  # this is prefixed with "/opt/ros/xxx/"
 	else()
-		# For ROS packages  /usr/local/lib/python3...
-		set(_python_code
-		"import os"
-		"import sysconfig"
-		"print(os.path.relpath(sysconfig.get_path('purelib', vars={'base': '${CMAKE_INSTALL_PREFIX}'}), start='${CMAKE_INSTALL_PREFIX}').replace(os.sep, '/'))"
-		)
-		# JL Was: get_executable_path(_python_interpreter Python3::Interpreter CONFIGURE)
-		set(_python_interpreter ${Python3_EXECUTABLE})
-		execute_process(
-			COMMAND
-			"${_python_interpreter}"
-			"-c"
-			"${_python_code}"
-			OUTPUT_VARIABLE _output
-			RESULT_VARIABLE _result
-			OUTPUT_STRIP_TRAILING_WHITESPACE
-		)
-		if(NOT _result EQUAL 0)
-			message(FATAL_ERROR
-			"execute_process(${_python_interpreter} -c '${_python_code}') returned "
-			"error code ${_result}")
-		endif()
+		message(FATAL_ERROR "Unhandled value for ENV{ROS_VERSION}=$ENV{ROS_VERSION}")
 	endif()
 
     set(PYTHON_INSTALL_DIR
@@ -252,6 +234,16 @@ macro(internal_define_mrpt_lib name headers_only )
 			target_compile_definitions(${name} PUBLIC _USE_MATH_DEFINES)
 		endif()
 
+		# Includes: <mrpt/config.h> & <mrpt/version.h> config headers:
+		# These are PRIVATE include to enforce including BEFORE any other headers, 
+		# e.g. another mrpt instance installed under /opt/ros/${ROS_DISTRO} while building a local copy
+		# Note that there is another PUBLIC dep on the same headers for mrpt-core only, so user code
+		# sees those files too.
+		target_include_directories(${name} BEFORE PRIVATE
+			$<BUILD_INTERFACE:${MRPT_CONFIG_FILE_INCLUDE_DIR}>
+			$<INSTALL_INTERFACE:include>
+		)
+
 		# for gcc and clang, we must build libraries as fPIC:
 		if(NOT MSVC)
 			target_compile_options(${name} PRIVATE "-fPIC")

cmakemodules/script_show_final_summary.cmake

@@ -157,7 +157,7 @@ message(STATUS " _______________________ WRAPPERS/BINDINGS _____________________
 SHOW_CONFIG_LINE_SYSTEM("Matlab / mex files        " CMAKE_MRPT_HAS_MATLAB "[Version: ${MATLAB_VERSION}]")
 SHOW_CONFIG_LINE("Python3 wrappers          " CMAKE_MRPT_HAS_PYTHON_BINDINGS "[pybind11: ${pybind11_VERSION}]")
 SHOW_CONFIG_LINE("Python3 interpreter found " Python3_FOUND "[Version: ${Python3_VERSION}]")
-if ($ENV{VERBOSE})
+if (("$ENV{VERBOSE}") OR ("$ENV{HOME}" STREQUAL "/home/buildfarm"))
 	message(STATUS "CMAKE_INSTALL_PREFIX     : ${CMAKE_INSTALL_PREFIX}")
 	message(STATUS "DESTDIR                  : ${DESTDIR}")
 	message(STATUS "Python3_SITELIB          : ${Python3_SITELIB}")

doc/source/compiling.rst

@@ -52,7 +52,7 @@ Minimum compiler requisites:
             libxrandr-dev libxxf86vm-dev
 
        # Support most common sensors:
-       sudo apt install libftdi-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
+       sudo apt install libftdi1-dev libusb-1.0-0-dev libudev-dev libfreenect-dev \
             libdc1394-22-dev libavformat-dev libswscale-dev libpcap-dev \
             liboctomap-dev libopenni2-dev
 

doc/source/doxygen-docs/changelog.md

@@ -1,5 +1,26 @@
 \page changelog Change Log
 
+# Version 2.9.2: Released June 20th, 2023
+- Changes in docs:
+  - Update dependency in instructions from `libftdi-dev` to `libftdi1-dev`
+- Changes in libraries:
+  - \ref mrpt_comms_grp
+    - mrpt::comms::CInterfaceFTDI Fix usage of deprecated API in libftdi
+  - \ref mrpt_obs_grp
+    - New static method mrpt::obs::CRawlog::ReadFromArchive() (useful for python bindings)
+    - New overload mrpt::obs::obs_to_viz() for mrpt::obs::CSensoryFrame containers
+  - \ref mrpt_slam_grp
+    - mrpt::slam::CMetricMapBuilder::getCurrentlyBuiltMetricMap() returns a const ref instead of a pointer (safer, and does not lead to memory crashes in the Python wrapper).
+- Python:
+  - New wrapped functions:
+    - `mrpt.serialization.archiveFrom()`
+  - Fix python install directory:
+    - ROS 1 or pure Debian: `[...]/lib/python3/site-packages/`
+    - ROS 2: `[...]/lib/python3.X/site-packages/`
+- BUG FIXES:
+  - Fixed including the wrong `<mrpt/config.h>` if building MRPT in a system with another ROS-provided MRPT build.
+  - Fixed build errors with gcc-13 (Fixes [Debian bug #1037783](https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=1037783))
+
 # Version 2.9.1: Release June 14th, 2023
 - Build system:
   - ROS 2: fix missing explicit dep on rclcpp in package.xml.

doc/source/examples.rst

@@ -1,12 +1,14 @@
 .. _examples:
 
 ===============
-Code examples
+C++ examples
 ===============
 
 The source code for all these C++ examples can be found
 under `MRPT/samples <https://github.com/MRPT/mrpt/tree/develop/samples>`_.
-Python examples are under `MRPT/python-examples <https://github.com/MRPT/mrpt/tree/develop/python-examples>`_.
+
+Python examples are `here <python_examples.html>`_.
+
 
 .. toctree::
   :maxdepth: 1

doc/source/index.rst

@@ -21,6 +21,7 @@ MRPT
   tutorials
   applications
   examples
+  python_examples
   wrappers
   supported-sensors
   unit_testing

doc/source/pymrpt_example_global_localization.rst

@@ -0,0 +1,20 @@
+.. _pyexample_global_localization:
+
+====================================================
+Python example: global_localization.py
+====================================================
+
+This example runs a MonteCarlo global localization
+algorithm for a robot from a dataset in .rawlog format.
+The adaptive particle filter algorithm has two implementations, 
+for 2D and 3D poses, or SE(2) or SE(3), respectively.
+
+.. raw:: html
+
+    <iframe width="560" height="315" src="https://www.youtube.com/embed/ZfVUydQIM5E" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen>
+    </iframe>
+
+
+.. literalinclude:: ../../python-examples/global_localization.py
+   :language: python
+   :linenos:

doc/source/pymrpt_example_hwdriver_tao_imu_usb.rst

@@ -0,0 +1,18 @@
+.. _pyexample_hwdriver_tao_imu_usb:
+
+====================================================
+Python example: hwdriver-tao-imu-usb.py
+====================================================
+
+This example shows how to read a Taobotics USB IMU
+with the pymrpt hwdrivers module.
+
+.. raw:: html
+
+    <iframe width="560" height="315" src="https://www.youtube.com/embed/qaaP9BmZYmo" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen>
+    </iframe>
+
+
+.. literalinclude:: ../../python-examples/hwdriver-tao-imu-usb.py
+   :language: python
+   :linenos:

doc/source/pymrpt_example_lines-3d-geometry-example.rst

@@ -0,0 +1,11 @@
+.. _pyexample_lines-3d-geometry-example:
+
+====================================================
+Python example: lines-3d-geometry-example.py
+====================================================
+
+This example illustrates some geometry functions:
+
+.. literalinclude:: ../../python-examples/lines-3d-geometry-example.py
+   :language: python
+   :linenos:

doc/source/pymrpt_example_rbpf_slam.rst

@@ -0,0 +1,18 @@
+.. _pyexample_rbpf_slam:
+
+====================================================
+Python example: rbpf_slam.py
+====================================================
+
+This example shows how to build a metric map using 
+the RBPF-SLAM algorithm:
+
+.. raw:: html
+
+    <iframe width="560" height="315" src="https://www.youtube.com/embed/XiKTWNOQlcU" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen>
+    </iframe>
+
+
+.. literalinclude:: ../../python-examples/rbpf_slam.py
+   :language: python
+   :linenos:

doc/source/pymrpt_example_se2-poses-example.rst

@@ -0,0 +1,12 @@
+.. _pyexample_se2-poses-example:
+
+====================================================
+Python example: se2-poses-example.py
+====================================================
+
+Example usage of SE(2) poses, for transformations
+in the plane (x,y,phi):
+
+.. literalinclude:: ../../python-examples/se2-poses-example.py
+   :language: python
+   :linenos:

doc/source/pymrpt_example_se3-poses-example.rst

@@ -0,0 +1,12 @@
+.. _pyexample_se3-poses-example:
+
+====================================================
+Python example: se3-poses-example.py
+====================================================
+
+Example usage of SE(3) poses, for transformations
+in the space (x,y,z,yaw,pitch,roll):
+
+.. literalinclude:: ../../python-examples/se3-poses-example.py
+   :language: python
+   :linenos:

doc/source/python_examples.rst

@@ -0,0 +1,21 @@
+.. _python_examples:
+
+=================
+Python examples
+=================
+
+The source code for all these Python examples can be found
+under `MRPT/python-examples <https://github.com/MRPT/mrpt/tree/develop/python-examples>`_.
+
+C++ examples are `here <examples.html>`_.
+
+
+.. toctree::
+  :maxdepth: 1
+
+  pymrpt_example_global_localization.rst
+  pymrpt_example_hwdriver_tao_imu_usb.rst
+  pymrpt_example_lines-3d-geometry-example.rst
+  pymrpt_example_rbpf_slam.rst
+  pymrpt_example_se2-poses-example.rst
+  pymrpt_example_se3-poses-example.rst

doc/source/wrappers.rst

@@ -30,7 +30,7 @@ All MRPT libraries are wrapped into one single Python3 module `pymrpt`.
 See: 
 
 - pydoc reference documentation for pymrpt: https://mrpt.github.io/pymrpt-docs/mrpt.pymrpt.mrpt.html
-- MRPT Python examples: https://github.com/MRPT/mrpt/tree/develop/python-examples
+- MRPT `Python examples <python_examples.html>`_
 
 
 3. Matlab

libs/apps/src/ICP_SLAM_App.cpp

@@ -273,7 +273,7 @@ void ICP_SLAM_App_Base::run()
 		f_log.printf(
 			"%f %i\n", 1000.0f * t_exec, mapBuilder.getCurrentlyBuiltMapSize());
 
-		const CMultiMetricMap* mostLikMap =
+		const CMultiMetricMap& mostLikMap =
 			mapBuilder.getCurrentlyBuiltMetricMap();
 
 		if (LOG_FREQUENCY > 0 && 0 == (step % LOG_FREQUENCY))
@@ -335,10 +335,10 @@ void ICP_SLAM_App_Base::run()
 			}
 
 			// The maps:
-			view->insert(mostLikMap->getVisualization());
+			view->insert(mostLikMap.getVisualization());
 
 			// Only the point map:
-			if (auto pMap = mostLikMap->mapByClass<CPointsMap>(); pMap)
+			if (auto pMap = mostLikMap.mapByClass<CPointsMap>(); pMap)
 				view_map->insert(pMap->getVisualization());
 
 			// Draw the robot path:
@@ -444,11 +444,11 @@ void ICP_SLAM_App_Base::run()
 	}
 
 	{
-		const CMultiMetricMap* finalPointsMap =
+		const CMultiMetricMap& finalPointsMap =
 			mapBuilder.getCurrentlyBuiltMetricMap();
 		auto str = format("%s/_finalmaps_.txt", OUT_DIR);
 		MRPT_LOG_INFO_FMT("Dumping final metric maps to %s_XXX\n", str.c_str());
-		finalPointsMap->saveMetricMapRepresentationToFile(str);
+		finalPointsMap.saveMetricMapRepresentationToFile(str);
 	}
 
 	if (win3D) win3D->waitForKey();

libs/comms/src/CInterfaceFTDI_LIN.cpp

@@ -419,8 +419,14 @@ void CInterfaceFTDI::Purge()
 	auto* ctx = static_cast<ftdi_context*>(m_ftdi_context);
 	ASSERT_(ctx->usb_dev);
 
+#if MRPT_FTDI_VERSION >= 0x120
+	if (ftdi_tcioflush(ctx) < 0)
+#else
 	if (ftdi_usb_purge_buffers(ctx) < 0)
+#endif
+	{
 		THROW_EXCEPTION("Error purging device buffers");
+	}
 
 	m_readBuffer.clear();
 #endif

libs/containers/include/mrpt/containers/CDynamicGrid.h

@@ -12,6 +12,7 @@
 
 #include <cmath>
 #include <cstddef>
+#include <cstdint>
 #include <string>
 #include <vector>
 

libs/containers/src/yaml.cpp

@@ -1134,8 +1134,7 @@ void yaml::comment(const std::string& c, CommentPosition position)
 }
 
 // --- key node comments API ---
-const yaml::node_t& findKeyNode(
-	const yaml::node_t* me, const std::string_view& key)
+const yaml::node_t& findKeyNode(const yaml::node_t* me, const std::string& key)
 {
 	const auto& m = me->asMap();
 	auto itK = m.find(key);

libs/core/CMakeLists.txt

@@ -9,7 +9,7 @@ define_mrpt_lib(
 
 if(BUILD_mrpt-core)
 	# Includes: <mrpt/config.h> & <mrpt/version.h> config headers:
-	target_include_directories(core PUBLIC
+	target_include_directories(core BEFORE PUBLIC
 		$<BUILD_INTERFACE:${MRPT_CONFIG_FILE_INCLUDE_DIR}>
 		$<INSTALL_INTERFACE:include>
 	)

libs/core/include/mrpt/core/bits_math.h

@@ -12,6 +12,7 @@
 
 #include <algorithm>  // max()
 #include <cmath>  // floor(),isnan(),...
+#include <cstdint>
 #include <stdexcept>
 
 namespace mrpt

libs/io/include/mrpt/io/vector_loadsave.h

@@ -8,6 +8,7 @@
    +------------------------------------------------------------------------+ */
 #pragma once
 
+#include <cstdint>
 #include <string>
 #include <vector>