Merge pull request #786 from JuliaRobotics/master

v0.11.1-rc1
JuliaRobotics · Dec 2, 2021 · d8ae18f · d8ae18f
2 parents cc9cf71 + 1f9ab54
commit d8ae18f
Show file tree

Hide file tree

Showing 82 changed files with 4,694 additions and 992 deletions.
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -17,6 +17,7 @@ jobs:
       matrix:
         version:
           - '1.6'
+          - '^1.7.0-0'
           - 'nightly'
         os:
           - ubuntu-latest
@@ -48,7 +49,7 @@ jobs:
       - uses: codecov/codecov-action@v1
         with:
           file: lcov.info
-
+  
   test-masters:
     #if: github.ref != 'refs/heads/release**'
     name: Upstream Dev
@@ -57,12 +58,12 @@ jobs:
       JULIA_PKG_SERVER: ""
     steps:
       - uses: actions/checkout@v2
-
+      
       - uses: julia-actions/setup-julia@v1
         with:
           version: 1.6
           arch: x64
-
+      
       - uses: actions/cache@v1
         env:
           cache-name: cache-artifacts
@@ -73,7 +74,7 @@ jobs:
             ${{ runner.os }}-test-${{ env.cache-name }}-
             ${{ runner.os }}-test-
             ${{ runner.os }}-
-
+      
       - run: |
           git config --global user.name Tester
           git config --global user.email [email protected]
@@ -86,3 +87,34 @@ jobs:
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.test("Caesar"; coverage=false)'
         shell: bash
+
+  docs:
+    name: 'Build Docs'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        include:
+          - jlenv: 'docs/'
+            makejl: 'docs/make.jl'
+          # - jlenv: 'docs/pdf/'
+          #   makejl: 'docs/pdf/make.jl'
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - name: 'Docs on ${{ github.head_ref }}'
+        run: |
+          export JULIA_PKG_SERVER=""
+          [ '${{ github.ref }}' == 'refs/heads/master' ] && export CJL_DOCS_BRANCH="master" || export CJL_DOCS_BRANCH="${{ github.head_ref }}"
+          julia -e 'println("Julia gets branch: ",ENV["CJL_DOCS_BRANCH"])'
+          julia --project=${{ matrix.jlenv }} --check-bounds=yes -e 'using Pkg; Pkg.instantiate(); Pkg.add(PackageSpec(name="Caesar", rev=ENV["CJL_DOCS_BRANCH"]))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoME", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="RoMEPlotting", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="KernelDensityEstimatePlotting", rev="master"))'
+          julia --project=${{ matrix.jlenv }} -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference", rev="master"))'
+      - run: julia --project=${{ matrix.jlenv }} --color=yes ${{ matrix.makejl }}
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
+          JULIA_PKG_SERVER: ""
diff --git a/.travis.yml b/.travis.yml
diff --git a/CITATION.bib b/CITATION.bib
@@ -1,6 +1,6 @@
 @online{Caesarjl2021,
  author =        {{P}ackage {C}ontributors and {E}cosystem},
- title =         {Caesar.jl, v0.10.2},
+ title =         {Caesar.jl, v0.11.0},
  year =          {2021},
  doi=            {Solver DOI: 10.5281/zenodo.5146222}, 
  note =          {\url{https://github.com/JuliaRobotics/Caesar.jl}}

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 = "0.11.0"
+version = "0.11.1"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -34,6 +34,7 @@ Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TimeZones = "f269a46b-ccf7-5d73-abea-4c690281aa53"
@@ -43,47 +44,51 @@ Unmarshal = "cbff2730-442d-58d7-89d1-8e530c41eb02"
 YAML = "ddb6d928-2868-570f-bddf-ab3f9cf99eb6"
 
 [compat]
-ApproxManifoldProducts = "0.3, 0.4"
+ApproxManifoldProducts = "0.4.21"
 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 = "0.15, 0.16"
+DistributedFactorGraphs = "0.15, 0.16, 0.17"
 Distributions = "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 = "0.25"
+IncrementalInference = "0.25.4, 0.26"
 JLD2 = "0.3, 0.4"
 JSON = "0.19, 0.20, 0.21"
 JSON2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5"
-Manifolds = "0.6.3"
+Manifolds = "0.6.3, 0.7"
 NLsolve = "3, 4"
 Optim = "1"
 ProgressMeter = "0.9, 1"
 Reexport = "0.2, 1"
 Requires = "0.5, 1"
-RoME = "0.16"
-Rotations = "0.13, 1"
+RoME = "0.16.1, 0.17"
+Rotations = "1.1"
+StaticArrays = "1"
 TensorCast = "0.3, 0.4"
 TimeZones = "1.3.1, 1.4"
 TransformUtils = "0.2.2"
 Unmarshal = "0.3, 0.4"
 YAML = "0.3, 0.4"
-ZMQ = "1"
 julia = "1.4"
 
 [extras]
 AprilTags = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"
+BSON = "fbb218c0-5317-5bc6-957e-2ee96dd4b1f0"
+Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
+Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004"
 Images = "916415d5-f1e6-5110-898d-aaa5f9f070e0"
 PyCall = "438e738f-606a-5dbb-bf0a-cddfbfd45ab0"
+Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 RoMEPlotting = "238d586b-a4bf-555c-9891-eda6fc5e55a2"
 RobotOS = "22415677-39a4-5241-a37a-00beabbbdae8"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 ZMQ = "c2297ded-f4af-51ae-bb23-16f91089e4e1"
 
 [targets]
-test = ["Test", "PyCall", "RobotOS", "ZMQ", "AprilTags", "Images"]
+test = ["AprilTags", "BSON", "Colors", "Gadfly", "Images", "PyCall", "Random", "RobotOS", "Test", "ZMQ"]
diff --git a/README.md b/README.md
@@ -1,10 +1,10 @@
 <p align="center">
-<img src="https://user-images.githubusercontent.com/6412556/134777705-acda768e-884b-4de6-b307-aac6d09b9c81.png" width="480" border="0" />
+<img src="https://user-images.githubusercontent.com/6412556/134777705-acda768e-884b-4de6-b307-aac6d09b9c81.png" width="240" border="0" />
 </p>
 
 A multimodal/non-Gaussian robotic toolkit for localization and mapping -- reducing the barrier of entry for sensor/data fusion tasks, including Simultaneous Localization and Mapping (SLAM).
 
-[NavAbility.io](http://www.navability.io) helps the with administration and support of the Caesar.jl community, please reach out for any additional information ([email protected]) or via the Slack badge-link below.
+[NavAbility.io](http://www.navability.io) is administrating and supporting the ongoing development of Caesar.jl with and to help grow the community, please reach out for any additional information at [email protected] or via the Slack badge-link below.
 
 # Weblink Info
 
@@ -29,22 +29,24 @@ Code changes are currently tracked via Github's integrated Milestone/Issues/PR s
 | [ApproxManifoldProducts.jl][amp-url] | [![][amp-stable]][amp-releases] | [![Build Status][amp-build-img]][amp-build-url] | [![codecov.io][amp-cov-img]][amp-cov-url] | [![][mst-shield]][amp-milestones] |
 | [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] |
-| [LightGraphs.jl][lgraphs-url] | [![][lgjl-stable]][lgjl-releases] | [![Build Status][lgraphs-build-img]][lgraphs-build-url] | [![codecov.io][lgraphs-cov-img]][lgraphs-cov-url] | upstream |
-| [Manifolds.jl][mani-url] | [![][mani-stable]][mani-releases] | [![Build Status][mani-build-img]][mani-build-url] | [![codecov.io][mani-cov-img]][mani-cov-url] | upstream |
-| [Optim.jl][optim-url] | [![][optim-stable]][optim-releases] | [![Build Status][optim-build-img]][optim-build-url] <br> [![Build Status][optim-img-windows]][optim-build-windows] | [![codecov.io][optim-cov-img]][optim-cov-url] | upstream |
-| [TransformUtils.jl][tf-url] | [![][tf-stable]][tf-releases] | [![Build Status][tf-build-img]][tf-build-url] | [![codecov.io][tf-cov-img]][tf-cov-url] | deprecating |
-| [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] |
+| [DistributedFactorGraphs.jl][dfg-url] | [![][dfg-ver-img]][dfg-rel-url] | [![Build Status][dfg-ci-dev-img]][dfg-ci-dev-url] | [![codecov.io][dfg-cov-img]][dfg-cov-url] | [![][mst-shield]][dfg-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] | *upstream* |
+| [Manifolds.jl][mani-url] | [![][mani-stable]][mani-releases] | [![Build Status][mani-build-img]][mani-build-url] | [![codecov.io][mani-cov-img]][mani-cov-url] | *upstream* |
+| [Optim.jl][optim-url] | [![][optim-stable]][optim-releases] | [![Build Status][optim-build-img]][optim-build-url] <br> [![Build Status][optim-img-windows]][optim-build-windows] | [![codecov.io][optim-cov-img]][optim-cov-url] | *upstream* |
+| [Images.jl][ijl-url] | [![][ijl-ver-stb-img]][ijl-ver-stb-url] | [![Build Status][ijl-action-img]][ijl-action-url] | [![][ijl-codecov-img]][ijl-codecov-url] | *upstream* |
+| [AprilTags.jl][apt-url] | [![][apt-ver-img]][apt-ver-url] | [![CI][apt-ci-dev-img]][apt-ci-dev-img] | [![][apt-cov-img]][apt-cov-url] | [![][mst-shield]][apt-milestones] |
+| [RoMEPlotting.jl][rp-url] | [![][rp-ver-img]][rp-releases] | [![Build Status][rp-build-img]][rp-build-url] | [![codecov.io][rp-cov-img]][rp-cov-url] | [![][mst-shield]][rp-milestones] |
+| [TransformUtils.jl][tf-url] | [![][tf-stable]][tf-releases] | [![Build Status][tf-build-img]][tf-build-url] | [![codecov.io][tf-cov-img]][tf-cov-url] | *deprecating* |
 
 # Contributors
 
-We are grateful for many, many contributions within the Julia package ecosystem -- see the [Juliahub.com page](https://juliahub.com/ui/Packages/Caesar/BNbRm/0.10.2?t=1) for the upstream package dependencies.
+We are grateful for many, many contributions within the Julia package ecosystem -- see the [Juliahub.com page](https://juliahub.com/ui/Packages/Caesar/BNbRm?page=1) for the upstream package dependencies.
 
 Consider citing our work:
 ```
 @online{Caesarjl2021,
  author =        {{P}ackage {C}ontributors and {E}cosystem},
- title =         {Caesar.jl, v0.10.2},
+ title =         {Caesar.jl, v0.11.0},
  year =          {2021},
  doi=            {Solver DOI: 10.5281/zenodo.5146222}, 
  note =          {\url{https://github.com/JuliaRobotics/Caesar.jl}}
@@ -143,20 +145,23 @@ This project adheres to the [JuliaRobotics code of conduct](https://github.com/J
 
 [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
-[lgraphs-build-img]: https://travis-ci.org/JuliaGraphs/LightGraphs.jl.svg?branch=master
-[lgraphs-build-url]: https://travis-ci.org/JuliaGraphs/LightGraphs.jl
+[lgraphs-build-img]: https://github.com/sbromberger/LightGraphs.jl/actions/workflows/ci.yml/badge.svg
+[lgraphs-build-url]: https://github.com/sbromberger/LightGraphs.jl/actions/workflows/ci.yml
 [lgraphs-url]: http://www.github.com/JuliaGraphs/LightGraphs.jl
-[lgjl-stable]: https://img.shields.io/badge/2019Q3-v1.3.x-green.svg
+[lgjl-stable]: https://juliahub.com/docs/LightGraphs/version.svg
+[lgjl-ver-jhub]: https://juliahub.com/ui/Packages/LightGraphs/Xm08G
 [lgjl-releases]: https://github.com/JuliaGraphs/LightGraphs.jl/releases
 
+[dfg-ci-dev-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg
+[dfg-ci-dev-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml
+[dfg-ci-stb-img]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml/badge.svg?branch=release%2Fv0.16
+[dfg-ci-stb-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/actions/workflows/ci.yml
+[dfg-ver-img]: https://juliahub.com/docs/IncrementalInference/version.svg
 [dfg-cov-img]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl/coverage.svg?branch=master
 [dfg-cov-url]: https://codecov.io/github/JuliaRobotics/DistributedFactorGraphs.jl?branch=master
-[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/2021Q2-v0.14.x-green.svg
 [dfg-milestones]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/milestones
-[dfg-releases]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/releases
+[dfg-rel-url]: https://github.com/JuliaRobotics/DistributedFactorGraphs.jl/releases
 
 [amp-cov-img]: https://codecov.io/github/JuliaRobotics/ApproxManifoldProducts.jl/coverage.svg?branch=master
 [amp-cov-url]: https://codecov.io/github/JuliaRobotics/ApproxManifoldProducts.jl?branch=master
@@ -190,8 +195,28 @@ This project adheres to the [JuliaRobotics code of conduct](https://github.com/J
 [rp-url]: http://www.github.com/JuliaRobotics/RoMEPlotting.jl
 [rp-cov-img]: https://codecov.io/github/JuliaRobotics/RoMEPlotting.jl/coverage.svg?branch=master
 [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/2021Q2-v0.7.x-green.svg
+[rp-build-img]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml/badge.svg
+[rp-build-url]: https://github.com/JuliaRobotics/RoMEPlotting.jl/actions/workflows/ci.yml
+[rp-ver-img]: https://juliahub.com/docs/RoMEPlotting/version.svg
 [rp-milestones]: https://github.com/JuliaRobotics/RoMEPlotting.jl/milestones
 [rp-releases]: https://github.com/JuliaRobotics/RoMEPlotting.jl/releases
+
+[ijl-url]: https://github.com/JuliaImages/Images.jl
+[ijl-pkgeval-img]: https://juliaci.github.io/NanosoldierReports/pkgeval_badges/I/Images.svg
+[ijl-pkgeval-url]: https://juliaci.github.io/NanosoldierReports/pkgeval_badges/report.html
+[ijl-action-img]: https://github.com/JuliaImages/Images.jl/workflows/Unit%20test/badge.svg
+[ijl-action-url]: https://github.com/JuliaImages/Images.jl/actions
+[ijl-codecov-img]: https://codecov.io/github/JuliaImages/Images.jl/coverage.svg?branch=master
+[ijl-codecov-url]: https://codecov.io/github/JuliaImages/Images.jl?branch=master
+[ijl-ver-stb-img]: https://juliahub.com/docs/Images/version.svg
+[ijl-ver-stb-url]: https://github.com/JuliaImages/Images.jl/releases
+
+<!-- AprilTags.jl -->
+[apt-url]: https://github.com/JuliaRobotics/AprilTags.jl
+[apt-ver-img]: https://juliahub.com/docs/AprilTags/version.svg
+[apt-ver-url]: https://github.com/JuliaRobotics/AprilTags.jl/releases
+[apt-ci-dev-img]: https://travis-ci.org/JuliaRobotics/AprilTags.jl.svg?branch=master
+[apt-ci-dev-url]: https://travis-ci.org/JuliaRobotics/AprilTags.jl
+[apt-cov-img]: http://codecov.io/github/JuliaRobotics/AprilTags.jl/coverage.svg?branch=master
+[apt-cov-url]: http://codecov.io/github/JuliaRobotics/AprilTags.jl?branch=master
+[apt-milestones]: https://github.com/JuliaRobotics/AprilTags.jl/milestones