From 1b0d4f1feee7f3b7bdb64038e7392ba5f5b291b1 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@lyft.com>
Date: Thu, 4 Jun 2020 11:09:18 +0200
Subject: [PATCH] Add Ubuntu 18.04 to the install scripts, CI, docs. (#1697)

---
 .travis.yml                   |  1 +
 Dockerfile.bionic             | 34 ++++++++++++++++++++++++++++++++++
 docs/source/index.rst         |  4 ++--
 scripts/install_debs_cmake.sh |  6 ++++++
 4 files changed, 43 insertions(+), 2 deletions(-)
 create mode 100644 Dockerfile.bionic

diff --git a/.travis.yml b/.travis.yml
index e81cd9f..4d089cc 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -24,6 +24,7 @@ cache:
 env:
   - LSB_RELEASE=trusty DOCKER_CACHE_FILE=/home/travis/docker/trusty-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=xenial DOCKER_CACHE_FILE=/home/travis/docker/xenial-cache.tar.gz CC=gcc CXX=g++
+  - LSB_RELEASE=bionic DOCKER_CACHE_FILE=/home/travis/docker/bionic-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=jessie DOCKER_CACHE_FILE=/home/travis/docker/jessie-cache.tar.gz CC=gcc CXX=g++
   - LSB_RELEASE=stretch DOCKER_CACHE_FILE=/home/travis/docker/stretch-cache.tar.gz CC=gcc CXX=g++
 
diff --git a/Dockerfile.bionic b/Dockerfile.bionic
new file mode 100644
index 0000000..1de8281
--- /dev/null
+++ b/Dockerfile.bionic
@@ -0,0 +1,34 @@
+# Copyright 2020 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 ubuntu:bionic
+
+ARG cc
+ARG cxx
+
+# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
+ENV CC=$cc
+ENV CXX=$cxx
+
+# This base image doesn't ship with sudo, apt-utils. tzdata is installed here to avoid hanging later
+# when it would wait for user input. 
+RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/lib/apt/lists/*
+
+COPY scripts/install_debs_cmake.sh cartographer/scripts/
+RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_proto3.sh cartographer/scripts/
+RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
+COPY . cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
diff --git a/docs/source/index.rst b/docs/source/index.rst
index b1a540b..54b04d2 100644
--- a/docs/source/index.rst
+++ b/docs/source/index.rst
@@ -93,8 +93,8 @@ on systems that meet the following requirements:
 
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
-* Ubuntu 14.04 (Trusty) and 16.04 (Xenial)
-* gcc version 4.8.4 and 5.4.0
+* Ubuntu 14.04 (Trusty), 16.04 (Xenial), 18.04 (Bionic)
+* gcc version 4.8.4, 5.4.0, 7.5.0
 
 Known Issues
 ------------
diff --git a/scripts/install_debs_cmake.sh b/scripts/install_debs_cmake.sh
index 6a01bcb..db21f04 100755
--- a/scripts/install_debs_cmake.sh
+++ b/scripts/install_debs_cmake.sh
@@ -50,3 +50,9 @@ sudo apt-get install -y \
     libsuitesparse-dev \
     ninja-build \
     python-sphinx
+
+# Install Ceres Solver on Ubuntu Bionic. No need to build it ourselves.
+if [[ "$(lsb_release -sc)" = "bionic" ]]
+then
+  sudo apt-get install -y libceres-dev
+fi