This was used for ROS 2 until Beta2 and is now obsolete. As of Beta 3, ROS 2 is using the version of ceres-solver distributed on packages.ros.org

Ceres Solver is an open source C++ library for modeling and solving large, complicated optimization problems. It is a feature rich, mature and performant library which has been used in production at Google since 2010. Ceres Solver can solve two kinds of problems.

1. Non-linear Least Squares problems with bounds constraints.
2. General unconstrained optimization problems.

Please see ceres-solver.org for more information.

Ceres development happens on Gerrit, including both repository hosting and code reviews. The GitHub Repository is a continuously updated mirror which is primarily meant for issue tracking. Please see our Contributing to Ceres Guide for more details.

The upstream Gerrit repository is

https://ceres-solver.googlesource.com/ceres-solver