# package.xml

## Overview

`package.xml` is the ROS 2 package manifest for `cartographer_ros_msgs`. It declares the package name, version, description, dependencies, and build type in the `format="3"` schema.

## Metadata

- **Package name**: `cartographer_ros_msgs`.
- **Version**: `2.0.9003`.
- **Description**: "ROS messages for the cartographer_ros package."
- **License**: Apache 2.0.
- **Maintainer**: Chris Lalancette.
- **Author**: The Cartographer Authors.
- **URL**: `https://github.com/cartographer-project/cartographer_ros`.

## Versioning Note

The manifest contains a comment explaining the versioning scheme. The upstream `cartographer_ros` project is effectively unmaintained for ROS 1, so the ROS 2 port is versioned independently. The version formula is:

```text
version = (upstream_patch_version + 900) * 10
```

For example, `2.0.9000` corresponds to upstream `2.0.0` plus local commits, and `2.0.9010` would correspond to upstream `2.0.1`.

## Dependencies

### Build Tool Dependencies

- `ament_cmake` — the ament build system.
- `rosidl_default_generators` — generates language bindings from the interface definitions.

### Runtime and Interface Dependencies

- `builtin_interfaces` — provides `builtin_interfaces/Time`, used by `ReadMetrics.srv`.
- `geometry_msgs` — provides `geometry_msgs/Pose` and `geometry_msgs/PoseStamped`.
- `std_msgs` — provides `std_msgs/Header`.

### Execution Dependencies

- `rosidl_default_runtime` — the runtime support for generated interfaces.

### Test Dependencies

- `ament_lint_auto`
- `ament_lint_common`

## Groups and Exports

- The package declares membership in the `rosidl_interface_packages` group.
- The build type is exported as `ament_cmake`.