Merge pull request #438 from JuliaRobotics/master

v0.15.1-rc1
JuliaRobotics · May 24, 2021 · e7cf804 · e7cf804
2 parents 01c9770 + 49f6aef
commit e7cf804
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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 te@st.er
       
-      - name: Run tests on masters
+      - name: Run tests on Upstream Dev
         run: |
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="IncrementalInference",rev="master"));'
           julia --project=@. --check-bounds=yes -e 'using Pkg; Pkg.add(PackageSpec(name="ApproxManifoldProducts",rev="master"));'

diff --git a/.travis.yml b/.travis.yml
@@ -6,6 +6,9 @@ arch:
 os:
   - linux
 
+env:
+  - JULIA_PKG_SERVER=""
+
 addons:
   apt:
     packages:
@@ -23,7 +26,7 @@ jobs:
     - julia: nightly
     - arch: arm64
   include:
-    - name: "THIS AND MASTERS"
+    - name: "Upstream Dev, 1.6"
       julia: 1.6
       if: NOT branch =~ ^release.*$
       script:
@@ -33,7 +36,7 @@ jobs:
         - julia -e 'using Pkg; Pkg.add(PackageSpec(name="DistributedFactorGraphs",rev="master"));'
         - julia --check-bounds=yes -e 'using Pkg; Pkg.test("RoME"; coverage=false)'
       after_success: skip
-    - name: "ARM64"
+    - name: "ARM64, Julia 1.6"
       arch: arm64
       julia: 1.6
       after_success: skip

diff --git a/Project.toml b/Project.toml
@@ -2,7 +2,7 @@ name = "RoME"
 uuid = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
 keywords = ["SLAM", "state-estimation", "MM-iSAM", "MM-iSAMv2", "inference", "robotics"]
 desc = "Non-Gaussian simultaneous localization and mapping"
-version = "0.15.0"
+version = "0.15.1"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -26,29 +26,31 @@ Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
 Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 Statistics = "10745b16-79ce-11e8-11f9-7d13ad32a3b2"
 TensorCast = "02d47bb6-7ce6-556a-be16-bb1710789e2b"
 TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
 
 [compat]
-ApproxManifoldProducts = "0.3.1"
+ApproxManifoldProducts = "0.3.3"
 CoordinateTransformations = "0.5, 0.6, 0.7"
-DistributedFactorGraphs = "0.13"
-Distributions = "0.21, 0.22, 0.23, 0.24"
+DistributedFactorGraphs = "0.14.0"
+Distributions = "0.21, 0.22, 0.23, 0.24, 0.25"
 DocStringExtensions = "0.7, 0.8"
-FileIO = "1.0.2, 1.1, 1.2"
-IncrementalInference = "0.23"
-JLD2 = "0.2, 0.3, 0.4"
+FileIO = "1"
+IncrementalInference = "0.24"
+JLD2 = "0.3, 0.4"
 KernelDensityEstimate = "0.5.1, 0.6"
-Manifolds = "0.4.19"
-ManifoldsBase = "0.10"
+Manifolds = "0.5"
+ManifoldsBase = "0.11"
 Optim = "0.22, 1.0"
 ProgressMeter = "1"
 Reexport = "0.2, 1.0"
 Requires = "1.0"
-Rotations = "0.12.1, 0.13, 1.0"
+Rotations = "0.13, 1"
+StaticArrays = "1"
 TensorCast = "0.3.3, 0.4"
-TransformUtils = "0.2.7"
+TransformUtils = "0.2.10"
 julia = "1.4"
 
 [extras]

diff --git a/README.md b/README.md
@@ -1,8 +1,8 @@
 # RoME.jl
 
-| Stable v0.12 | Stable v0.13 | Dev | Coverage |
+| Stable v0.14 | Stable v0.15 | Dev | Coverage |
 |--------------|--------------|-----|----------|
-| [![Build Status](https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=release%2Fv0.12)](https://travis-ci.org/JuliaRobotics/RoME.jl) | [![Build Status](https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=release%2Fv0.13)](https://travis-ci.org/JuliaRobotics/RoME.jl) | [![CI](https://github.com/JuliaRobotics/RoME.jl/workflows/CI/badge.svg?branch=master)](https://github.com/JuliaRobotics/RoME.jl/actions?query=workflow%3ACI) | [![codecov.io](https://codecov.io/github/JuliaRobotics/RoME.jl/coverage.svg?branch=master)](https://codecov.io/github/JuliaRobotics/RoME.jl?branch=master)
+| [![Build Status](https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=release%2Fv0.14)](https://travis-ci.org/JuliaRobotics/RoME.jl) | [![Build Status](https://travis-ci.org/JuliaRobotics/RoME.jl.svg?branch=release%2Fv0.15)](https://travis-ci.org/JuliaRobotics/RoME.jl) | [![CI](https://github.com/JuliaRobotics/RoME.jl/workflows/CI/badge.svg?branch=master)](https://github.com/JuliaRobotics/RoME.jl/actions?query=workflow%3ACI) | [![codecov.io](https://codecov.io/github/JuliaRobotics/RoME.jl/coverage.svg?branch=master)](https://codecov.io/github/JuliaRobotics/RoME.jl?branch=master)
 
 Robot Motion Estimate: A set of functions for developing front-ends for SLAM in [Julia](www.julialang.org) which adds transform, visualization and convenience functions to the [Multi-modal iSAM](http://frc.ri.cmu.edu/~kaess/pub/Fourie16iros.pdf) backend solver. The back-end solver is implemented in [IncrementalInference.jl](https://github.com/JuliaRobotics/IncrementalInference.jl).
 

diff --git a/compileRoME/Gadfly/Project.toml b/compileRoME/Gadfly/Project.toml
@@ -0,0 +1,15 @@
+[deps]
+ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
+Compose = "a81c6b42-2e10-5240-aca2-a61377ecd94b"
+CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
+DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
+Gadfly = "c91e804a-d5a3-530f-b6f0-dfbca275c004"
+GraphPlot = "a2cc645c-3eea-5389-862e-a155d0052231"
+ImageMagick = "6218d12a-5da1-5696-b52f-db25d2ecc6d1"
+IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
+KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
+LightGraphs = "093fc24a-ae57-5d10-9952-331d41423f4d"
+RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
+VisualRegressionTests = "34922c18-7c2a-561c-bac1-01e79b2c4c92"
diff --git a/compileRoME/Gadfly/compileRoMEGadflySysimage.jl b/compileRoME/Gadfly/compileRoMEGadflySysimage.jl
@@ -0,0 +1,14 @@
+using Pkg
+
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
+
+using PackageCompiler
+
+cd(@__DIR__)
+
+create_sysimage([:RoME,:Gadfly,:GraphPlot,:DistributedFactorGraphs,:Compose], sysimage_path="RoMEGadflySysimage.so", precompile_execution_file="precompile_triggers_gadfly.jl")
+
+
+## to use RoME Gadfly and the associated Pkgs with the newly created sysimage, start julia with:
+# julia -J RoMEGadflySysimage.so
diff --git a/compileRoME/Gadfly/precompile_triggers_gadfly.jl b/compileRoME/Gadfly/precompile_triggers_gadfly.jl
@@ -0,0 +1,6 @@
+using GraphPlot, Compose #, ImageMagick, LightGraphs # RoME, DistributedFactorGraphs, Gadfly
+# include(joinpath(pkgdir(RoME), "test", "runtests.jl")) # February 2021: some tests fail here
+# include(joinpath(pkgdir(Gadfly), "test", "runtests.jl")) # February 2021: some tests fail here
+include(joinpath(pkgdir(GraphPlot), "test", "runtests.jl"))
+# include(joinpath(pkgdir(DistributedFactorGraphs), "test", "runtests.jl")) # February 2021: CI already errors?
+# include(joinpath(pkgdir(Compose), "test", "runtests.jl")) # February 2021: some tests fail here
diff --git a/compileRoME/RoMEPlotting/Project.toml b/compileRoME/RoMEPlotting/Project.toml
@@ -0,0 +1,10 @@
+[deps]
+ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
+CoordinateTransformations = "150eb455-5306-5404-9cee-2592286d6298"
+DistributedFactorGraphs = "b5cc3c7e-6572-11e9-2517-99fb8daf2f04"
+IncrementalInference = "904591bb-b899-562f-9e6f-b8df64c7d480"
+KernelDensityEstimate = "2472808a-b354-52ea-a80e-1658a3c6056d"
+RoME = "91fb55c2-4c03-5a59-ba21-f4ea956187b8"
+RoMEPlotting = "238d586b-a4bf-555c-9891-eda6fc5e55a2"
+Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
+TransformUtils = "9b8138ad-1b09-5408-aa39-e87ed6d21b63"
diff --git a/compileRoME/RoMEPlotting/compileRoMEPlottingSysimage.jl b/compileRoME/RoMEPlotting/compileRoMEPlottingSysimage.jl
@@ -0,0 +1,15 @@
+using Pkg
+
+Pkg.activate(@__DIR__)
+Pkg.instantiate()
+
+using PackageCompiler
+
+cd(@__DIR__)
+
+create_sysimage([:RoME,:RoMEPlotting], sysimage_path="RoMEPlottingSysimage.so", precompile_execution_file="precompile_triggers_plotting.jl")
+
+
+## to use RoME and RoMEPlotting with the newly created sysimage, start julia with:
+# julia -J RoMEPlottingSysimage.so
+# February 2021: starting julia with the sysimage crashes
diff --git a/compileRoME/RoMEPlotting/precompile_triggers_plotting.jl b/compileRoME/RoMEPlotting/precompile_triggers_plotting.jl
@@ -0,0 +1,3 @@
+import RoME
+#include(joinpath(pkgdir(RoME), "test", "runtests.jl")) # February 2021: some tests fail here
+#include(joinpath(pkgdir(RoMEPlotting), "test", "runtests.jl"))