bye ROS1 (#229)

Author: koide3

README.md

@@ -14,15 +14,14 @@
 - ***Extensibility:*** GLIM provides the global callback slot mechanism that allows to access the internal states of the mapping process and insert additional constraints to the factor graph. We also release [glim_ext](https://github.com/koide3/glim_ext) that offers example implementations of several extension functions (e.g., explicit loop detection, LiDAR-Visual-Inertial odometry estimation).
 
 **Documentation: [https://koide3.github.io/glim/](https://koide3.github.io/glim/)**  
-**Docker hub:** [koide3/glim_ros1](https://hub.docker.com/repository/docker/koide3/glim_ros1/tags), [koide3/glim_ros2](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags), [ROS1 on Jetpack 5.1.4](https://hub.docker.com/r/junekyoopark/arm64v8_glim_ros1_cuda12.2) (made by [junekyoopark](https://github.com/junekyoopark))  
-**Related packages:** [gtsam_points](https://github.com/koide3/gtsam_points), [glim](https://github.com/koide3/glim), [glim_ros1](https://github.com/koide3/glim_ros1), [glim_ros2](https://github.com/koide3/glim_ros2), [glim_ext](https://github.com/koide3/glim_ext)
+**Docker hub:** [koide3/glim_ros2](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags)  
+**Related packages:** [gtsam_points](https://github.com/koide3/gtsam_points), [glim](https://github.com/koide3/glim), ~~[glim_ros1](https://github.com/koide3/glim_ros1),~~ [glim_ros2](https://github.com/koide3/glim_ros2), [glim_ext](https://github.com/koide3/glim_ext)
 
 Tested on Ubuntu 22.04 /24.04 with CUDA 12.2 / 12.5 / 12.6, and NVIDIA Jetson Orin (Jetpack 6.1).
 
 If you find this package useful for your project, please consider leaving a comment [here](https://github.com/koide3/glim/issues/19). It would help the author receive recognition in his organization and keep working on this project.
 
 [![Build](https://github.com/koide3/glim/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/glim/actions/workflows/build.yml)
-[![ROS1](https://github.com/koide3/glim_ros1/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/glim_ros1/actions/workflows/build.yml)
 [![ROS2](https://github.com/koide3/glim_ros2/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/glim_ros2/actions/workflows/build.yml)
 [![EXT](https://github.com/koide3/glim_ext/actions/workflows/build.yml/badge.svg)](https://github.com/koide3/glim_ext/actions/workflows/build.yml)
 

docs/api.md

@@ -8,6 +8,6 @@
 ## Related Repositories
 * [gtsam_points (https://github.com/koide3/gtsam_points)](https://github.com/koide3/gtsam_points)
 * [glim (https://github.com/koide3/glim)](https://github.com/koide3/glim)
-* [glim_ros1 (https://github.com/koide3/glim_ros1)](https://github.com/koide3/glim_ros1)
+* ~~[glim_ros1 (https://github.com/koide3/glim_ros1)](https://github.com/koide3/glim_ros1)~~
 * [glim_ros2 (https://github.com/koide3/glim_ros2)](https://github.com/koide3/glim_ros2)
 * [glim_ext (https://github.com/koide3/glim_ext)](https://github.com/koide3/glim_ext)

docs/docker.md

@@ -2,18 +2,12 @@
 
 ## Prebuilt docker images
 
-We provide the following docker images for ROS1 and ROS2 environments on docker hub.
+We provide the following docker images forROS2 on docker hub.
 
-- [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/glim_ros1/noetic) koide3/glim_ros1:noetic](https://hub.docker.com/repository/docker/koide3/glim_ros1/tags)
-- [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/glim_ros1/noetic_cuda12.2) koide3/glim_ros1:noetic_cuda12.2](https://hub.docker.com/repository/docker/koide3/glim_ros1/tags)
 - [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/glim_ros2/jazzy) koide3/glim_ros2:jazzy](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags)
 - [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/glim_ros2/humble) koide3/glim_ros2:humble](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags)
 - [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/koide3/glim_ros2/humble_cuda12.2) koide3/glim_ros2:humble_cuda12.2](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags)
 
-Thirdparty images:
-- [![Docker Image Size (tag)](https://img.shields.io/docker/image-size/junekyoopark/arm64v8_glim_ros1_cuda12.2/latest) ROS1 on Jetpack 5.1.4 (Jetson Orin NX)](https://hub.docker.com/r/junekyoopark/arm64v8_glim_ros1_cuda12.2) (made by [junekyoopark](https://github.com/junekyoopark))
-
-
 !!! note
     ROS2 sometimes requires additional configurations for communication on docker. See [https://github.com/eProsima/Fast-DDS/issues/2956](https://github.com/eProsima/Fast-DDS/issues/2956). Do not ask us about how to use ROS2 with docker.
 

docs/index.md

@@ -18,7 +18,6 @@
 Tested on Ubuntu 22.04 / 24.04 with CUDA 12.2 / 12.5 / 12.6, and NVIDIA Jetson Orin (Jetpack 6.1).
 
 [![Build test status](assets/build.svg)](https://github.com/koide3/glim/actions/workflows/build.yml)
-[![ROS1](assets/ros1.svg)](https://github.com/koide3/glim_ros1/actions/workflows/docker_push.yml)
 [![ROS2](assets/ros2.svg)](https://github.com/koide3/glim_ros2/actions/workflows/docker_push.yml)
 
 ## Video

docs/installation.md

@@ -44,23 +44,6 @@ sudo make install
 sudo ldconfig
 ```
 
-### Install GLIM for ROS1
-
-```bash
-cd ~/catkin_ws/src
-git clone https://github.com/koide3/glim
-git clone https://github.com/koide3/glim_ros1
-
-cd ~/catkin_ws
-catkin_make
-
-# cmake options
-# catkin_make \
-#   -DBUILD_WITH_CUDA=ON \
-#   -DBUILD_WITH_VIEWER=ON \
-#   -DBUILD_WITH_MARCH_NATIVE=OFF
-```
-
 ### Install GLIM for ROS2
 ```bash
 cd ~/ros2_ws/src
@@ -139,10 +122,5 @@ sudo apt install -y ros-humble-glim-ros            # Without CUDA
 sudo apt install -y ros-humble-glim-ros-cuda12.2   # With CUDA 12.2
 sudo apt install -y ros-humble-glim-ros-cuda12.5   # With CUDA 12.5
 sudo apt install -y ros-humble-glim-ros-cuda12.6   # With CUDA 12.6
-
-# ROS1 noetic (Ubuntu 20.04)
-sudo apt install -y ros-noetic-glim-ros            # Without CUDA
-sudo apt install -y ros-noetic-glim-ros-cuda12.2   # With CUDA 12.2
-sudo apt install -y ros-noetic-glim-ros-cuda12.5   # With CUDA 12.5
 ```
 

docs/quickstart.md

@@ -45,31 +45,6 @@ GLIM provides two ROS executables: ***glim_rosnode*** and ***glim_rosbag***.
 ### glim_rosnode
 ***glim_rosnode*** launches GLIM as a standard ROS node that subscribes to points, imu, and image topics. 
 
-<details>
-<summary>ROS1 command</summary>
-
-```bash
-# Start roscore
-roscore
-```
-
-```bash
-# Enable use_sim_time and launch GLIM as a standard ROS node on another terminal
-rosparam set use_sim_time true
-rosrun glim_ros glim_rosnode
-```
-
-```bash
-# Play rosbag on yet another terminal
-rosbag play --clock os1_128_01.bag
-```
-
-```bash
-# Visualize on rviz (optional)
-rviz -d glim_ros1/rviz/glim_ros.rviz
-```
-</details>
-
 <details>
 <summary>ROS2 command</summary>
 
@@ -96,22 +71,6 @@ rviz2 -d glim_ros2/rviz/glim_ros.rviz
 
 ***glim_rosbag*** launches a mapping instance that directly reads data from rosbag. It automatically adjusts the playback speed while avoiding data drop to perform mapping in a minimum time.
 
-<details>
-<summary>ROS1 command</summary>
-
-```bash
-roscore
-```
-
-```bash
-rosparam set use_sim_time true
-```
-
-```bash
-rosrun glim_ros glim_rosbag os1_128_01.bag
-```
-</details>
-
 <details>
 <summary>ROS2 command</summary>
 
@@ -138,21 +97,6 @@ GLIM reads parameter settings from JSON files in a config root directory, which
 
 **Example**
 
-<details>
-<summary>ROS1 command</summary>
-
-```bash
-# Load parameters from "glim/config/presets/gpu/config.json"
-rosrun glim_ros glim_rosnode _config_path:=config/presets/gpu
-
-# Load parameters from "/tmp/config/config.json"
-rosrun glim_ros glim_rosnode _config_path:=/tmp/config
-
-# Load parameters from "./config/config.json"
-rosrun glim_ros glim_rosnode _config_path:=$(realpath ./config)
-```
-</details>
-
 <details>
 <summary>ROS2 command</summary>
 
@@ -190,9 +134,6 @@ Estimated trajectory files (TUM format : Each row is [t x y z qx qy qz qw]):
 </div>
 
 ```bash
-# ROS1
-rosrun glim_ros offline_viewer
-
 # ROS2
 ros2 run glim_ros offline_viewer
 ```