Use installed Abseil. (#1570)

CMakeLists.txt

@@ -29,7 +29,7 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
 google_initialize_cartographer_project()
 google_enable_testing()
 
-find_package(Abseil REQUIRED)
+find_package(absl REQUIRED)
 set(BOOST_COMPONENTS iostreams)
 if(WIN32)
   list(APPEND BOOST_COMPONENTS zlib)
@@ -268,7 +268,20 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${PROTOBUF_INCLUDE_DIR})
 # TODO(hrapp): This should not explicitly list pthread and use
 # PROTOBUF_LIBRARIES, but that failed on first try.
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
+  absl::algorithm
+  absl::base
+  absl::debugging
+  absl::flat_hash_map
+  absl::memory
+  absl::meta
+  absl::numeric
+  absl::str_format
+  absl::strings
+  absl::synchronization
+  absl::time
+  absl::utility 
+)
 if (NOT WIN32)
   target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
 endif()

Dockerfile.bionic

@@ -28,6 +28,8 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY scripts/install_grpc.sh cartographer/scripts/

Dockerfile.focal

@@ -28,5 +28,7 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY . cartographer
 RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

Dockerfile.jessie

@@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && 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_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.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 scripts/install_proto3.sh cartographer/scripts/

Dockerfile.stretch

@@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && 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_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.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 scripts/install_proto3.sh cartographer/scripts/

Dockerfile.xenial

@@ -27,6 +27,8 @@ RUN apt-get update && apt-get install -y sudo && 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_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.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 scripts/install_proto3.sh cartographer/scripts/

cmake/modules/FindAbseil.cmake

@@ -1,95 +0,0 @@
-# Copyright 2018 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.
-
-cmake_minimum_required(VERSION 3.2)
-
-if(NOT TARGET standalone_absl)
-  set(prefix ${CMAKE_STATIC_LIBRARY_PREFIX})
-  set(suffix ${CMAKE_STATIC_LIBRARY_SUFFIX})
-  include(${CMAKE_ROOT}/Modules/ExternalProject.cmake)
-  set(ABSEIL_PROJECT_NAME abseil)
-  set(ABSEIL_PROJECT_SRC_DIR
-    ${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME})
-  set(ABSEIL_PROJECT_BUILD_DIR
-    ${CMAKE_CURRENT_BINARY_DIR}/${ABSEIL_PROJECT_NAME}/src/${ABSEIL_PROJECT_NAME}-build)
-  set(ABSEIL_INCLUDE_DIRS ${ABSEIL_PROJECT_SRC_DIR})
-  set(ABSEIL_LIBRARY_PATH
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/synchronization/${prefix}absl_synchronization${suffix}")
-  set(ABSEIL_DEPENDENT_LIBRARIES
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_symbolize${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/time/${prefix}absl_time${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_internal${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}str_format_extension_internal${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_str_format${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/strings/${prefix}absl_strings${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/hash/${prefix}absl_hash${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/algorithm/${prefix}absl_algorithm${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_base${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_dynamic_annotations${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_malloc_internal${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_spinlock_wait${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/base/${prefix}absl_internal_throw_delegate${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}absl_container${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/container/${prefix}test_instance_tracker_lib${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_debugging${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_examine_stack${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_failure_signal_handler${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_leak_check${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stack_consumption${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/debugging/${prefix}absl_stacktrace${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/memory/${prefix}absl_memory${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/meta/${prefix}absl_meta${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_int128${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/numeric/${prefix}absl_numeric${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_any${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_any_cast${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_bad_optional_access${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_optional${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_span${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/${prefix}absl_variant${suffix}"
-    "${ABSEIL_PROJECT_BUILD_DIR}/absl/utility/${prefix}absl_utility${suffix}"
-  )
-  ExternalProject_Add(${ABSEIL_PROJECT_NAME}
-    PREFIX ${ABSEIL_PROJECT_NAME}
-    GIT_REPOSITORY   https://github.com/abseil/abseil-cpp.git
-    GIT_TAG          7b46e1d31a6b08b1c6da2a13e7b151a20446fa07
-    INSTALL_COMMAND  ""
-    BUILD_COMMAND    ${CMAKE_COMMAND} --build "${ABSEIL_PROJECT_BUILD_DIR}"
-    CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
-    BUILD_BYPRODUCTS "${ABSEIL_LIBRARY_PATH};${ABSEIL_DEPENDENT_LIBRARIES}"
-  )
-  add_library(standalone_absl STATIC IMPORTED GLOBAL)
-  set_target_properties(standalone_absl
-    PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
-    ${ABSEIL_INCLUDE_DIRS}
-  )
-  set_target_properties(standalone_absl
-    PROPERTIES IMPORTED_LOCATION
-    ${ABSEIL_LIBRARY_PATH}
-    INTERFACE_LINK_LIBRARIES
-    "${ABSEIL_DEPENDENT_LIBRARIES}"
-  )
-  if(MSVC)
-    # /wd4005  macro-redefinition
-    # /wd4068  unknown pragma
-    # /wd4244  conversion from 'type1' to 'type2'
-    # /wd4267  conversion from 'size_t' to 'type2'
-    # /wd4800  force value to bool 'true' or 'false' (performance warning)
-    target_compile_options(standalone_absl INTERFACE /wd4005 /wd4068 /wd4244 /wd4267 /wd4800)
-    target_compile_definitions(standalone_absl INTERFACE -DNOMINMAX -DWIN32_LEAN_AND_MEAN=1 -D_CRT_SECURE_NO_WARNINGS)
-  endif()
-  add_dependencies(standalone_absl ${ABSEIL_PROJECT_NAME})
-  unset(prefix)
-  unset(suffix)
-endif()

scripts/install_abseil.sh

@@ -0,0 +1,32 @@
+#!/bin/sh
+
+# Copyright 2019 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.
+
+set -o errexit
+set -o verbose
+
+git clone https://github.com/abseil/abseil-cpp.git
+cd abseil-cpp
+git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+mkdir build
+cd build
+cmake -G Ninja \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
+  ..
+ninja
+sudo ninja install
+cd /usr/local/stow
+sudo stow absl

scripts/install_debs_cmake.sh

@@ -45,7 +45,8 @@ sudo apt-get install -y \
     libgoogle-glog-dev \
     liblua5.2-dev \
     libsuitesparse-dev \
-    ninja-build
+    ninja-build \
+    stow
 
 if [[ "$(lsb_release -sc)" = "focal" ]]
 then