# package.xml

The `package.xml` manifest declares `cartographer_rviz` as a ROS 2 package in package format 3, using the `ament_cmake` build type.

## Identity

- **Name**: `cartographer_rviz`
- **Version**: `2.0.9003` — this versioning scheme assumes upstream 2.0.0 plus local commits. The comment in the file explains that the patch part is computed as `(upstream_patch_version + 900) * 10`, giving room for intermediate releases; e.g. `2.0.9000` is 2.0.0 plus some commits, `2.0.9010` would be upstream 2.0.1, and so on.
- **Description**: provides Cartographer's RViz integration; Cartographer is a real-time SLAM system in 2D and 3D.
- **Maintainer**: Chris Lalancette; **Author**: The Cartographer Authors.
- **License**: Apache 2.0.

## Dependencies

- **Build tool**: `ament_cmake`.
- **Runtime/build dependencies**: `cartographer`, `cartographer_ros`, `cartographer_ros_msgs`, `eigen`, `libabsl-dev`, `pluginlib`, `rclcpp`, `rviz_common`, `rviz_ogre_vendor`, `rviz_rendering`.

## Exports

The export section declares the `ament_cmake` build type and the RViz plugin entry point, pointing at `rviz_plugin_description.xml`:

```xml
<export>
    <build_type>ament_cmake</build_type>
    <rviz plugin="rviz_plugin_description.xml" />
</export>
```