add ros package

.gitignore

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+.vscode

.gitmodules

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+[submodule "upstream"]
+	path = upstream
+	url = https://github.com/MRPT/mrpt.git

python_mrpt/CMakeLists.txt

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+# ROS wrapper CMake project for these MRPT libraries:
+# mrpt-nav, mrpt-kinematics
+
+cmake_minimum_required(VERSION 3.5)
+project(python_mrpt)
+
+include(ExternalProject)
+
+ExternalProject_Add(
+  mrpt
+  PREFIX ${CMAKE_BINARY_DIR}/mrpt-build
+  SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/../upstream/
+  CMAKE_ARGS 
+    # Main settings:
+    -DCMAKE_INSTALL_PREFIX=${CMAKE_INSTALL_PREFIX}
+    -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+    # Disabled stuff:
+    -DDISABLE_JSONCPP=ON
+    -DMRPT_INSTALL_EXAMPLES=OFF
+    -DMRPT_INSTALL_SHARE_DIRS=OFF
+    -DMRPT_BUILD_MANPAGES=OFF
+    -DMRPT_INSTALL_CONFIG_HEADERS=OFF
+    # Granular builds for each ROS package:
+    -DMRPT_BUILD_APPLICATIONS=OFF
+    -DMRPT_DISABLE_PYTHON_BINDINGS=OFF   # Build pymrpt!
+    -DMRPT_WITH_ROBOPEAK_LIDAR=OFF
+    -DMRPT_BUILD_wxThings=OFF
+    -DMRPT_BUILD_rplidar_sdk=OFF
+    -DMRPT_BUILD_xsens=OFF
+    -DMRPT_BUILD_nanogui=OFF
+    # Libs:
+    -DBUILD_mrpt-apps=OFF
+    -DBUILD_mrpt-bayes=OFF
+    -DBUILD_mrpt-comms=OFF
+    -DBUILD_mrpt-config=OFF
+    -DBUILD_mrpt-containers=OFF
+    -DBUILD_mrpt-core=OFF
+    -DBUILD_mrpt-expr=OFF
+    -DBUILD_mrpt-graphs=OFF
+    -DBUILD_mrpt-graphslam=OFF
+    -DBUILD_mrpt-gui=OFF
+    -DBUILD_mrpt-hwdrivers=OFF
+    -DBUILD_mrpt-img=OFF
+    -DBUILD_mrpt-io=OFF
+    -DBUILD_mrpt-kinematics=OFF
+    -DBUILD_mrpt-maps=OFF
+    -DBUILD_mrpt-math=OFF
+    -DBUILD_mrpt-nav=OFF
+    -DBUILD_mrpt-obs=OFF
+    -DBUILD_mrpt-opengl=OFF
+    -DBUILD_mrpt-poses=OFF
+    -DBUILD_mrpt-random=OFF
+    -DBUILD_mrpt-ros2bridge=OFF
+    -DBUILD_mrpt-rtti=OFF
+    -DBUILD_mrpt-serialization=OFF
+    -DBUILD_mrpt-slam=OFF
+    -DBUILD_mrpt-system=OFF
+    -DBUILD_mrpt-tclap=OFF
+    -DBUILD_mrpt-tfest=OFF
+    -DBUILD_mrpt-topography=OFF
+    -DBUILD_mrpt-typemeta=OFF
+    -DBUILD_mrpt-vision=OFF
+  # no install during build
+  INSTALL_COMMAND ""
+)
+
+# Actual "install":
+install(CODE "execute_process(COMMAND ${CMAKE_COMMAND} --build ${CMAKE_BINARY_DIR}/mrpt-build/src/mrpt-build --target install)")

python_mrpt/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>python_mrpt</name>
+  <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
+  <version>2.13.5</version>
+  <description>Python wrapper for Mobile Robot Programming Toolkit (MRPT) libraries</description>
+
+  <maintainer email="[email protected]">Jose-Luis Blanco-Claraco</maintainer>
+  <license>BSD</license>
+
+  <url type="website">https://www.mrpt.org/</url>
+  <url type="bugtracker">https://github.com/MRPT/mrpt/issues</url>
+
+  <author email="[email protected]">Jose-Luis Blanco-Claraco</author>
+
+  <!-- Deps required by user code (they are in public headers or built as ROS (vs system) packages -->
+  <depend>mrpt_libapps</depend>
+  <depend>mrpt_slam</depend>
+  <depend>mrpt_gui</depend>
+  <depend>mrpt_nav</depend>
+
+  <!-- COMMON DEPS: This ensures we have ROS_DISTRO, etc. env vars -->
+  <build_depend>ros_environment</build_depend>
+
+  <!-- Deps required by building only -->
+  <!-- <build_depend condition="$ROS_VERSION == 2">libfyaml-dev</build_depend> -->  <!-- Removed since not packaged for non-Debian platforms -->
+  <build_depend>pkg-config</build_depend>
+  <build_depend>zlib</build_depend>
+
+  <!-- More build deps that are not actually required by this ROS package, but we need them for the mrpt/config.h to reflect we have such feature -->
+  <build_depend>libjpeg</build_depend> <!-- To ensure no built-in version is used -->
+  <build_depend>glut</build_depend>
+  <build_depend>libglfw3-dev</build_depend>
+  <build_depend>libxrandr</build_depend>
+  <build_depend>libxxf86vm</build_depend>
+  <build_depend>opengl</build_depend>
+  <build_depend>assimp-dev</build_depend>
+  <build_depend>ffmpeg</build_depend>
+  <build_depend>libfreenect-dev</build_depend>
+  <build_depend>libopenni2-dev</build_depend>
+  <build_depend>libpcap</build_depend>
+  <build_depend>libudev-dev</build_depend>
+  <build_depend>libusb-1.0-dev</build_depend>
+  <build_depend>pybind11-dev</build_depend>
+  <build_depend>python3-pip</build_depend>
+  <build_depend>tinyxml2</build_depend>
+  <build_depend>wx-common</build_depend>
+  <build_depend>wxwidgets</build_depend>
+
+  <!--  <build_depend>libqt5-opengl-dev</build_depend> -->
+  <!--  <build_depend>qtbase5-dev</build_depend> -->
+
+  <!-- Required for cmake scripts to find ament_cmake and then realize we are in ROS 2, not ROS 1 -->
+  <build_depend condition="$ROS_VERSION == 2">ament_cmake</build_depend>
+
+  <!-- Deps for ros1bridge/ros2bridge -->
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>libopencv-dev</build_depend>
+  <build_depend>liboctomap-dev</build_depend>
+  <!--<depend>pcl_conversions</depend> WAS: To run unit tests only -->
+
+  <build_depend condition="$ROS_VERSION == 1">rosbag_storage</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rosbag2_storage</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+
+  <!-- for rosbag2rawlog (ROS 1 only, ROS 2 version lives in the mrpt_navigation repository) -->
+  <build_depend condition="$ROS_VERSION == 1">tf2_geometry_msgs</build_depend>
+
+  <doc_depend>doxygen</doc_depend>
+
+  <!-- Minimum entries to release non-catkin pkgs: -->
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+    <rosdoc config="doc/rosdoc.yaml" />
+  </export>
+  <!-- End -->
+
+</package>