Merge pull request #803 from JuliaRobotics/22Q1/maint/prepv12

prep v0.12

Author: dehann

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 = "0.11.1"
+version = "0.12.0"
 
 [deps]
 ApproxManifoldProducts = "9bbbb610-88a1-53cd-9763-118ce10c1f89"
@@ -75,7 +75,7 @@ TimeZones = "1.3.1, 1.4"
 TransformUtils = "0.2.2"
 Unmarshal = "0.3, 0.4"
 YAML = "0.3, 0.4"
-julia = "1.4"
+julia = "1.6"
 
 [extras]
 AprilTags = "f0fec3d5-a81e-5a6a-8c28-d2b34f3659de"

examples/dev/apriltagserver/EasySLAMExAprilTags.jl

@@ -71,7 +71,7 @@ allTags = deepcopy(detector.(imgs))
 
 ## init the factor graph
 
-fg = generateCanonicalFG_ZeroPose(varType=Pose2)
+fg = generateGraph_ZeroPose(varType=Pose2)
 
 getSolverParams(fg).useMsgLikelihoods = true
 

examples/wheeled/racecar/testFluxModelsPose2.jl

@@ -19,7 +19,7 @@ end
 ##
 
 # start with a basic factor graph
-fg = generateCanonicalFG_ZeroPose(varType=Pose2)
+fg = generateGraph_ZeroPose(varType=Pose2)
 
 mvnNaive = MvNormal(zeros(3), diagm([1.0;1.0;0.01]))
 

src/images/Pose2AprilTag4Corners.jl

@@ -45,7 +45,7 @@ detector = AprilTagDetector()
 tags = detector(img)
 
 # new factor graph with Pose2 `:x0` and a Prior.
-fg = generateCanonicalFG_ZeroPose(varType=Pose2)
+fg = generateGraph_ZeroPose(varType=Pose2)
 
 # use a construction helper to add factors to all the tags
 for tag in tags