Remove Ubuntu Trusty from CI. (#1699)

Ubuntu 14.04 has reached end of standard support.
Moves additional testing that was only done for
Trusty to Bionic.

.travis.yml

@@ -22,7 +22,6 @@ cache:
     - /home/travis/docker/
 
 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++

Dockerfile.bionic

@@ -30,5 +30,11 @@ 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 scripts/install_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
+COPY scripts/install_async_grpc.sh cartographer/scripts/
+RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
+COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
+RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
 COPY . cartographer
-RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer
+RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer

Dockerfile.trusty

@@ -1,37 +0,0 @@
-# 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 ubuntu:trusty
-
-ARG cc
-ARG cxx
-
-# Set the preferred C/C++ compiler toolchain, if given (otherwise default).
-ENV CC=$cc
-ENV CXX=$cxx
-
-COPY scripts/install_debs_cmake.sh cartographer/scripts/
-RUN cartographer/scripts/install_debs_cmake.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/
-RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
-COPY scripts/install_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_grpc.sh && rm -rf grpc
-COPY scripts/install_async_grpc.sh cartographer/scripts/
-RUN cartographer/scripts/install_async_grpc.sh && rm -rf async_grpc
-COPY scripts/install_prometheus_cpp.sh cartographer/scripts/
-RUN cartographer/scripts/install_prometheus_cpp.sh && rm -rf prometheus-cpp
-COPY . cartographer
-RUN cartographer/scripts/install_cartographer_cmake_with_grpc.sh && rm -rf cartographer

cmake/modules/FindGMock.cmake

@@ -57,8 +57,6 @@ if(NOT GMock_FOUND)
         add_subdirectory(${GMOCK_SRC_DIR} "${CMAKE_CURRENT_BINARY_DIR}/gmock"
           EXCLUDE_FROM_ALL)
       endif()
-      # The next line is needed for Ubuntu Trusty.
-      set(GMOCK_INCLUDE_DIRS "${GMOCK_SRC_DIR}/gtest/include")
       set(GMOCK_LIBRARIES gmock_main)
     endif()
   endif()

docs/source/index.rst

@@ -65,7 +65,7 @@ Getting started without ROS
 Please see our ROS integration as a starting point for integrating your system
 with the standalone library. Currently, it is the best available reference.
 
-On Ubuntu 14.04 (Trusty):
+On Ubuntu 16.04 (Xenial):
 
 .. literalinclude:: ../../scripts/install_debs_cmake.sh
   :language: bash
@@ -93,7 +93,7 @@ on systems that meet the following requirements:
 
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
-* Ubuntu 14.04 (Trusty), 16.04 (Xenial), 18.04 (Bionic)
+* Ubuntu 16.04 (Xenial), 18.04 (Bionic)
 * gcc version 4.8.4, 5.4.0, 7.5.0
 
 Known Issues

scripts/install_debs_cmake.sh

@@ -20,12 +20,9 @@ set -o verbose
 # Install the required libraries that are available as debs.
 sudo apt-get update
 
-# Install CMake 3.2 for Ubuntu Trusty and Debian Jessie.
+# Install CMake 3.2 for Debian Jessie.
 sudo apt-get install lsb-release -y
-if [[ "$(lsb_release -sc)" = "trusty" ]]
-then
-  sudo apt-get install cmake3 -y
-elif [[ "$(lsb_release -sc)" = "jessie" ]]
+if [[ "$(lsb_release -sc)" = "jessie" ]]
 then
   sudo sh -c "echo 'deb [check-valid-until=no] http://archive.debian.org/debian jessie-backports main' >> /etc/apt/sources.list"
   sudo sh -c "echo 'Acquire::Check-Valid-Until \"false\";' >> /etc/apt/apt.conf"