Merge pull request #711 from JuliaRobotics/master

v0.10.2-rc1
JuliaRobotics · May 25, 2021 · 9cd8632 · 9cd8632
2 parents ea80932 + eb25e17
commit 9cd8632
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -10,6 +10,8 @@ jobs:
   test:
     name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }}
     runs-on: ${{ matrix.os }}
+    env:
+      JULIA_PKG_SERVER: ""
     strategy:
       fail-fast: false
       matrix:
@@ -49,8 +51,10 @@ jobs:
 
   test-masters:
     #if: github.ref != 'refs/heads/release**'
-    name: This and Masters
+    name: Upstream Dev
     runs-on: ubuntu-latest
+    env:
+      JULIA_PKG_SERVER: ""
     steps:
       - uses: actions/checkout@v2
 
@@ -74,7 +78,7 @@ jobs:
           git config --global user.name Tester
           git config --global user.email [email protected]
       
-      - name: Run tests on masters
+      - name: Run tests on Upstream Dev
         run: |
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="RoME",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference",rev="master"));'

diff --git a/.travis.yml b/.travis.yml
@@ -7,6 +7,9 @@ arch:
 os:
   - linux
 
+env:
+  - JULIA_PKG_SERVER=""
+
 addons:
   apt:
     packages:
@@ -16,10 +19,9 @@ julia:
   - 1.6
   - nightly
 
-
 jobs:
   include:
-    - name: "DEV MASTERS"
+    - name: "Upstream Dev"
       if: NOT branch =~ ^release.*$
       julia: 1.6
       script:

diff --git a/Project.toml b/Project.toml
@@ -2,7 +2,7 @@ name = "Caesar"
 uuid = "62eebf14-49bc-5f46-9df9-f7b7ef379406"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics", "ROS"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.10.1"
+version = "0.10.2"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -47,14 +47,14 @@ AprilTags = "0.8, 0.9"
 Combinatorics = "0.7, 0.8, 0.9, 1"
 CoordinateTransformations = "0.5, 0.6"
 DataStructures = "0.16, 0.17, 0.18"
-DistributedFactorGraphs = "0.12, 0.13"
-Distributions = "0.19, 0.20, 0.21, 0.22, 0.23, 0.24"
+DistributedFactorGraphs = "0.13, 0.14"
+Distributions = "0.19, 0.20, 0.21, 0.22, 0.23, 0.24, 0.25"
 DocStringExtensions = "0.7, 0.8"
 FFTW = "1"
 FileIO = "1"
 ImageCore = "0.7, 0.8, 0.9"
 ImageMagick = "0.7, 1.0, 1.1"
-IncrementalInference = "0.22, 0.23"
+IncrementalInference = "0.23, 0.24"
 JLD2 = "0.1, 0.2, 0.3, 0.4"
 JSON = "0.18, 0.19, 0.20, 0.21, 0.22, 0.23"
 JSON2 = "0.3, 0.4"

diff --git a/README.md b/README.md
@@ -29,10 +29,10 @@ Code changes are currently tracked via Github's integrated Milestone/Issues/PR s
 | [KernelDensityEstimate.jl][kde-url] | [![][kde-stable]][kde-releases] | [![Build Status][kde-build-img]][kde-build-url] | [![codecov.io][kde-cov-img]][kde-cov-url] | [![][mst-shield]][kde-milestones] |
 | [FunctionalStateMachine.jl][fsm-url] | [![][fsm-stable]][fsm-releases] | [![Build Status][fsm-build-img]][fsm-build-url] | [![codecov.io][fsm-cov-img]][fsm-cov-url] | [![][mst-shield]][fsm-milestones] |
 | [DistributedFactorGraphs.jl][dfg-url] | [![][dfg-stable]][dfg-releases] | [![Build Status][dfg-build-img]][dfg-build-url] | [![codecov.io][dfg-cov-img]][dfg-cov-url] | [![][mst-shield]][dfg-milestones] |
-| [RoMEPlotting.jl][rp-url] | [![][rp-stable]][rp-releases] | [![Build Status][rp-build-img]][rp-build-url] | [![codecov.io][rp-cov-img]][rp-cov-url] | [![][mst-shield]][rp-milestones] |
 | [LightGraphs.jl][lgraphs-url] | [![][lgjl-stable]][lgjl-releases] | [![Build Status][lgraphs-build-img]][lgraphs-build-url] | [![codecov.io][lgraphs-cov-img]][lgraphs-cov-url] | n/a |
+| [Manifolds.jl][mani-url] | [![][mani-stable]][mani-releases] | [![Build Status][mani-build-img]][mani-build-url] | [![codecov.io][mani-cov-img]][mani-cov-url] | -- |
 | [TransformUtils.jl][tf-url] | [![][tf-stable]][tf-releases] | [![Build Status][tf-build-img]][tf-build-url] | [![codecov.io][tf-cov-img]][tf-cov-url] | -- |
-| [~~Graphs.jl~~][graphs-url] | [![][gjl-stable]][gjl-releases] | [![Build Status][graphs-build-img]][graphs-build-url] | [![codecov.io][graphs-cov-img]][graphs-cov-url] | n/a |
+| [RoMEPlotting.jl][rp-url] | [![][rp-stable]][rp-releases] | [![Build Status][rp-build-img]][rp-build-url] | [![codecov.io][rp-cov-img]][rp-cov-url] | [![][mst-shield]][rp-milestones] |
 
 # Contributors
 
@@ -69,7 +69,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [build-v0.10]: https://travis-ci.org/JuliaRobotics/Caesar.jl.svg?branch=release/v0.10
 [build-v0.9]: https://travis-ci.org/JuliaRobotics/Caesar.jl.svg?branch=release/v0.9
 [build-url]: https://travis-ci.org/JuliaRobotics/Caesar.jl
-[caesar-stable]: https://img.shields.io/badge/2021Q1-v0.10.x-green.svg
+[caesar-stable]: https://img.shields.io/badge/2021Q2-v0.10.x-green.svg
 [caesar-slack-badge]: https://img.shields.io/badge/Caesarjl-Slack-green.svg?style=popout
 [caesar-slack]: https://caesarjl.slack.com
 [caesar-milestones]: https://github.com/JuliaRobotics/Caesar.jl/milestones
@@ -81,7 +81,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [r-build-img]: https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=master
 [r-build-v05]: https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=release%2Fv0.15
 [r-build-url]: https://travis-ci.org/JuliaRobotics/RoME.jl
-[r-stable]: https://img.shields.io/badge/2021Q1-v0.15.x-green.svg
+[r-stable]: https://img.shields.io/badge/2021Q2-v0.15.x-green.svg
 [r-milestones]: https://github.com/JuliaRobotics/RoME.jl/milestones
 [r-releases]: https://github.com/JuliaRobotics/RoME.jl/releases
 
@@ -91,7 +91,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [iif-build-v020]: https://travis-ci.org/JuliaRobotics/IncrementalInference.jl.svg?branch=release/v0.23
 [iif-build-url]: https://travis-ci.org/JuliaRobotics/IncrementalInference.jl
 [iif-url]: http://www.github.com/JuliaRobotics/IncrementalInference.jl
-[iif-stable]: https://img.shields.io/badge/2021Q1-v0.23.x-green.svg
+[iif-stable]: https://img.shields.io/badge/2021Q2-v0.24.x-green.svg
 [iif-milestones]: https://github.com/JuliaRobotics/IncrementalInference.jl/milestones
 [iif-releases]: https://github.com/JuliaRobotics/IncrementalInference.jl/releases
 
@@ -109,7 +109,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [tf-build-img]: https://travis-ci.org/dehann/TransformUtils.jl.svg?branch=master
 [tf-build-url]: https://travis-ci.org/dehann/TransformUtils.jl
 [tf-url]: http://www.github.com/dehann/TransformUtils.jl
-[tf-stable]: https://img.shields.io/badge/2018Q4-v0.2.x-green.svg
+[tf-stable]: https://img.shields.io/badge/2021Q2-v0.2.x-green.svg
 [tf-milestones]: https://github.com/JuliaRobotics/TransformUtils.jl/milestones
 [tf-releases]: https://github.com/JuliaRobotics/TransformUtils.jl/releases
 
@@ -120,13 +120,13 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [dvis-build-url]: https://travis-ci.org/rdeits/DrakeVisualizer.jl
 [dvis-url]: http://www.github.com/rdeits/DrakeVisualizer.jl -->
 
-[graphs-cov-img]: https://codecov.io/github/JuliaAttic/Graphs.jl/coverage.svg?branch=master
-[graphs-cov-url]: https://codecov.io/github/JuliaAttic/Graphs.jl?branch=master
-[graphs-build-img]: https://travis-ci.org/JuliaAttic/Graphs.jl.svg?branch=master
-[graphs-build-url]: https://travis-ci.org/JuliaAttic/Graphs.jl
-[graphs-url]: http://www.github.com/JuliaAttic/Graphs.jl
-[gjl-stable]: https://img.shields.io/badge/2019Q2-v0.10.x-green.svg
-[gjl-releases]: https://github.com/JuliaAttic/Graphs.jl/releases
+[mani-cov-img]: http://codecov.io/github/JuliaManifolds/Manifolds.jl/coverage.svg?branch=master
+[mani-cov-url]: https://codecov.io/gh/JuliaManifolds/Manifolds.jl/
+[mani-build-img]: https://github.com/JuliaManifolds/Manifolds.jl/workflows/CI/badge.svg
+[mani-build-url]: https://github.com/JuliaManifolds/Manifolds.jl/actions?query=workflow%3ACI+branch%3Amaster
+[mani-url]: http://www.github.com/JuliaManifolds/Manifolds.jl
+[mani-stable]: https://img.shields.io/badge/2021Q2-v0.5.x-green.svg
+[mani-releases]: https://github.com/JuliaManifolds/Manifolds.jl/releases
 
 [lgraphs-cov-img]: https://codecov.io/github/JuliaGraphs/LightGraphs.jl/coverage.svg?branch=master
 [lgraphs-cov-url]: https://codecov.io/github/JuliaGraphs/LightGraphs.jl?branch=master
@@ -141,7 +141,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [dfg-build-img]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl.svg?branch=master
 [dfg-build-url]: https://travis-ci.org/JuliaRobotics/DistributedFactorGraphs.jl
 [dfg-url]: http://www.github.com/JuliaRobotics/DistributedFactorGraphs.jl
-[dfg-stable]: https://img.shields.io/badge/2021Q1-v0.13.x-green.svg
+[dfg-stable]: https://img.shields.io/badge/2021Q2-v0.14.x-green.svg
 [dfg-milestones]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/milestones
 [dfg-releases]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/releases
 
@@ -150,7 +150,7 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [amp-build-img]: https://travis-ci.org/JuliaRobotics/ApproxManifoldProducts.jl.svg?branch=master
 [amp-build-url]: https://travis-ci.org/JuliaRobotics/ApproxManifoldProducts.jl
 [amp-url]: http://www.github.com/JuliaRobotics/ApproxManifoldProducts.jl
-[amp-stable]: https://img.shields.io/badge/2021Q1-v0.3.x-green.svg
+[amp-stable]: https://img.shields.io/badge/2021Q2-v0.3.x-green.svg
 [amp-milestones]: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/milestones
 [amp-releases]: https://github.com/JuliaRobotics/ApproxManifoldProducts.jl/releases
 
@@ -168,6 +168,6 @@ Administration of the Caesar.jl ecosystem is done by [NavAbility](http://www.nav
 [rp-cov-url]: https://codecov.io/github/JuliaRobotics/RoMEPlotting.jl?branch=master
 [rp-build-img]: https://travis-ci.org/JuliaRobotics/RoMEPlotting.jl.svg?branch=master
 [rp-build-url]: https://travis-ci.org/JuliaRobotics/RoMEPlotting.jl
-[rp-stable]: https://img.shields.io/badge/2021Q1-v0.7.x-green.svg
+[rp-stable]: https://img.shields.io/badge/2021Q2-v0.7.x-green.svg
 [rp-milestones]: https://github.com/JuliaRobotics/RoMEPlotting.jl/milestones
 [rp-releases]: https://github.com/JuliaRobotics/RoMEPlotting.jl/releases
diff --git a/docs/src/examples/parametric_solve.md b/docs/src/examples/parametric_solve.md
@@ -10,6 +10,12 @@ solveGraphParametric
 IncrementalInference.solveGraphParametric!
 ```
 
+Initializing the parametric solve from existing values can be done with the help of:
+
+```@docs
+initParametricFrom!
+```
+
 ## [Defining Factors to Support a Parametric Solution (Experimental)](@id parametric_factors)
 
 Factor that supports a parametric solution, with supported distributions (such as `Normal` and `MvNormal`), can be used in a parametric batch solver `solveGraphParametric`. 

diff --git a/docs/src/installation_environment.md b/docs/src/installation_environment.md
@@ -25,11 +25,11 @@ The easiest method is---via the terminal---to [download the desired](https://jul
 cd ~
 mkdir -p .julia
 cd .julia
-wget https://julialang-s3.julialang.org/bin/linux/x64/1.5/julia-1.5.2-linux-x86_64.tar.gz
-tar -xvf julia-1.5.2-linux-x86_64.tar.gz
-rm julia-1.5.2-linux-x86_64.tar.gz
+wget https://julialang-s3.julialang.org/bin/linux/x64/1.6/julia-1.6.1-linux-x86_64.tar.gz
+tar -xvf julia-1.6.1-linux-x86_64.tar.gz
+rm julia-1.6.1-linux-x86_64.tar.gz
 cd /usr/local/bin
-sudo ln -s ~/.julia/julia-1.5.2/bin/julia julia
+sudo ln -s ~/.julia/julia-1.6.1/bin/julia julia
 ```
 !!! note
     Feel free to modify this setup as you see fit.
@@ -86,11 +86,11 @@ There are a variety of useful packages in VSCode, such as `GitLens`, `LiveShare`
 ## Julia Packages
 
 The philosophy around Julia packages are discussed at length in the [Julia core documentation](https://docs.julialang.org/en/stable/manual/packages/), where each Julia package relates to a git repository likely found on [Github.com](http://www.github.com).
-To install a Julia package, simply open a `julia` REPL (equally the julia REPL in Atom/Juno) and type:
+To install a Julia package, simply open a `julia` REPL (equally the Julia REPL in VSCode) and type:
 
 ```julia
 ] # activate Pkg manager
-(v1.5) pkg> add Caesar
+(v1.6) pkg> add Caesar
 ```
 
 These are [registered packages](https://pkg.julialang.org/) maintained by [JuliaRegistries/General](http://github.com/JuliaRegistries/General).
@@ -99,63 +99,36 @@ Unregistered latest packages can also be installed with using only the `Pkg.deve
 ```julia
 # Caesar is registered on JuliaRegistries/General
 julia> ]
-(v1.5) pkg> add Caesar
-```
-
-See [Pkg.jl](https://github.com/JuliaLang/Pkg.jl) for details and features regarding package management, development, version control, virtual environments and much more.
+(v1.6) pkg> add Caesar
+(v1.6) pkg> add Caesar#some-branch
+(v1.6) pkg> add Caesar@v0.10.0
 
-## Install Visualization Tools
-
-### RoMEPlotting.jl for 2D plots
-
-RoMEPlotting.jl (2D) and Arena.jl (3D) as optional visualization packages:
-```julia
-(v1.5) pkg> add RoMEPlotting
+# or alternatively your own local fork (just using old link as example)
+(v1.6) pkg> add https://github.com/dehann/Caesar.jl
 ```
 
-!!! note
-    As of 1Q2020 it is likely that most systems won’t require a system install of libpango or even libcairo.
-    Previous versions of libraries required the following Linux system packages be installed:
-    ```bash
-    sudo apt-get install libfontconfig1
-    sudo apt-get install gettext
-    sudo apt-get install libcairo2
-    sudo apt-get install libpango1.0-0  # or libpango1.0-1
-    ```
-
-### Install 3D Visualization Utils (e.g. Arena.jl)
-
-3D Visualizations are provided by [Arena.jl](https://github.com/JuliaRobotics/Arena.jl) as well as development package Amphitheater.jl.
-Please follow instructions on the [Visualizations page](concepts/arena_visualizations.md) for a variety of 3D utilities.
-
-!!! note
-    Arena.jl and Amphitheater.jl are currently being refactored as part of the broader DistributedFactorGraph migration, the features are are in beta stage (1Q2020).
-
-Install the latest `master` branch version with
-```julia
-(v1.5) pkg> add Arena#master
-```
+See [Pkg.jl](https://github.com/JuliaLang/Pkg.jl) for details and features regarding package management, development, version control, virtual environments and much more.
 
 ## Running Unit Tests Locally
 
 Unit tests can further be performed for the upstream packages as follows -- **NOTE** first time runs are slow since each new function call or package must first be precompiled.
 ```julia
 # the multimodal incremental smoothing and mapping solver
-(v1.5) pkg> test IncrementalInference
+(v1.6) pkg> test IncrementalInference
 ...
 # robotics related variables and factors to work with IncrementalInference -- can be used standalone SLAM system
-(v1.5) pkg> test RoME
+(v1.6) pkg> test RoME
 ...
 # umbrella framework with interaction tools and more -- allows stand alone and server based solving
-(v1.5) pkg> test Caesar
+(v1.6) pkg> test Caesar
 ...
 ```
 
 ## Install Repos for Development
 
 Alternatively, the `dev` command:
 ```julia
-(v1.5) pkg> dev https://github.com/JuliaRobotics/Caesar.jl
+(v1.6) pkg> dev https://github.com/JuliaRobotics/Caesar.jl
 ```
 
 !!! warn
@@ -175,11 +148,35 @@ To use RoME with the newly created sysimage, start julia with:
 julia -O3 -J ~/.julia/dev/RoME/compileRoME/RoMESysimage.so
 ```
 
-## Install "Just the ZMQ/ROS Runtime Solver" (Linux)
 
-Work in progress (see issue [#278](https://github.com/JuliaRobotics/Caesar.jl/issues/278)).
+## 2D Plotting, RoMEPlotting.jl
+
+RoMEPlotting.jl (2D) and Arena.jl (3D) as optional visualization packages:
+```julia
+(v1.6) pkg> add RoMEPlotting
+```
 
 ## Contributing, Issues, or Comments
 
 Please feel free to open [issues with Caesar.jl](https://github.com/JuliaRobotics/Caesar.jl/issues) or even Fork and Pull Request as required.
 General conversations or comments can be made in the [Caesar Gist](https://gist.github.com/dehann/537f8a2eb9cc24d8bbd35ae92cb4d2d2).
+
+
+## Features To Be Restored In Future
+
+### Install 3D Visualization Utils (e.g. Arena.jl)
+
+3D Visualizations are provided by [Arena.jl](https://github.com/JuliaRobotics/Arena.jl) as well as development package Amphitheater.jl.
+Please follow instructions on the [Visualizations page](concepts/arena_visualizations.md) for a variety of 3D utilities.
+
+!!! note
+    Arena.jl and Amphitheater.jl are currently being refactored as part of the broader DistributedFactorGraph migration, the features are are in beta stage (1Q2020).
+
+Install the latest `master` branch version with
+```julia
+(v1.5) pkg> add Arena#master
+```
+
+## Install "Just the ZMQ/ROS Runtime Solver" (Linux)
+
+Work in progress (see issue [#278](https://github.com/JuliaRobotics/Caesar.jl/issues/278)).