Support new Debian version of gmock and add testing for debian systems (#236)

.travis.yml

@@ -22,12 +22,14 @@ cache:
     - /home/travis/docker/
 
 env:
-  - UBUNTU_RELEASE=trusty DOCKER_CACHE_FILE=/home/travis/docker/trusty-cache.tar.gz
-  - UBUNTU_RELEASE=xenial DOCKER_CACHE_FILE=/home/travis/docker/xenial-cache.tar.gz
+  - LSB_RELEASE=trusty DOCKER_CACHE_FILE=/home/travis/docker/trusty-cache.tar.gz
+  - LSB_RELEASE=xenial DOCKER_CACHE_FILE=/home/travis/docker/xenial-cache.tar.gz
+  - LSB_RELEASE=jessie DOCKER_CACHE_FILE=/home/travis/docker/jessie-cache.tar.gz
+  - LSB_RELEASE=stretch DOCKER_CACHE_FILE=/home/travis/docker/stretch-cache.tar.gz
 
 before_install: scripts/load_docker_cache.sh
 
 install: true
 script:
-  - docker build ${TRAVIS_BUILD_DIR} -t cartographer:${UBUNTU_RELEASE} -f Dockerfile.${UBUNTU_RELEASE}
+  - docker build ${TRAVIS_BUILD_DIR} -t cartographer:${LSB_RELEASE} -f Dockerfile.${LSB_RELEASE}
   - scripts/save_docker_cache.sh

Dockerfile.jessie

@@ -0,0 +1,25 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM debian:jessie
+
+# This base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_ceres.sh cartographer/scripts/
+RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer.sh && rm -rf cartographer

Dockerfile.stretch

@@ -0,0 +1,25 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM debian:stretch
+
+# This base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_ceres.sh cartographer/scripts/
+RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer.sh && rm -rf cartographer

Dockerfile.xenial

@@ -14,7 +14,7 @@
 
 FROM ubuntu:xenial
 
-# Xenial's base image doesn't ship with sudo.
+# This base image doesn't ship with sudo.
 RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs.sh cartographer/scripts/

cmake/modules/FindGMock.cmake

@@ -43,17 +43,18 @@ list(APPEND GMOCK_INCLUDE_DIRS ${GTEST_INCLUDE_DIRS})
 if(NOT GMOCK_LIBRARIES)
   # If no system-wide gmock found, then find src version.
   # Ubuntu might have this.
-  find_path(GMOCK_SRC_DIR gmock/CMakeLists.txt
+  find_path(GMOCK_SRC_DIR src/gmock.cc
     HINTS
       ENV GMOCK_DIR
-    PATH_SUFFIXES src
     PATHS
-      /usr
+      /usr/src/googletest/googlemock
+      /usr/src/gmock
   )
   if(GMOCK_SRC_DIR)
     # If src version found, build it.
-    add_subdirectory(${GMOCK_SRC_DIR}/gmock "${CMAKE_CURRENT_BINARY_DIR}/gmock")
-    set(GMOCK_INCLUDE_DIRS "${GMOCK_SRC_DIR}/gmock/gtest/include")
+    add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock")
+    # The next line is needed for Ubuntu Trusty.
+    set(GMOCK_INCLUDE_DIRS "${GMOCK_SRC_DIR}/gtest/include")
     set(GMOCK_LIBRARIES gmock_main)
   endif()
 endif()

scripts/save_docker_cache.sh

@@ -24,6 +24,6 @@ set -o pipefail
 if [[ ${TRAVIS_BRANCH} == "master" ]] &&
     [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then
   mkdir -p $(dirname ${DOCKER_CACHE_FILE});
-  docker save $(docker history -q cartographer:${UBUNTU_RELEASE} |
+  docker save $(docker history -q cartographer:${LSB_RELEASE} |
       grep -v '<missing>') | gzip > ${DOCKER_CACHE_FILE};
 fi