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:

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.