Move to GitHub Actions for CI. (#1884)

This moves away from travis-ci.org which no longer works.

Signed-off-by: Wolfgang Hess <whess@fsfe.org>

.dockerignore

@@ -1,4 +1,3 @@
 **/Dockerfile*
 **/.dockerignore
 **/.git
-**/.travis.yml

.github/workflows/ci-bionic.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 18.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.bionic

.github/workflows/ci-buster.yaml

@@ -0,0 +1,15 @@
+name: Debian Buster CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.buster

.github/workflows/ci-focal.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 20.04 CI
+
+on:
+    push:
+        branches: ["master"]
+    pull_request:
+        branches: ["master"]
+
+jobs:
+    build:
+        runs-on: ubuntu-latest
+        steps:
+        - uses: actions/checkout@v3
+        - name: Run the Dockerfile
+          run: docker build . -f Dockerfile.focal

.travis.yml

@@ -1,36 +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.
-
-sudo: required
-services: docker
-
-# Cache intermediate Docker layers. For a description of how this works, see:
-# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
-cache:
-  directories:
-    - /home/travis/docker/
-
-env:
-  - LSB_RELEASE=bionic DOCKER_CACHE_FILE=/home/travis/docker/bionic-cache.tar.gz CC=gcc CXX=g++
-  - LSB_RELEASE=focal DOCKER_CACHE_FILE=/home/travis/docker/focal-cache.tar.gz CC=gcc CXX=g++
-  - LSB_RELEASE=stretch DOCKER_CACHE_FILE=/home/travis/docker/stretch-cache.tar.gz CC=gcc CXX=g++
-  - LSB_RELEASE=buster DOCKER_CACHE_FILE=/home/travis/docker/buster-cache.tar.gz CC=gcc CXX=g++
-
-before_install: scripts/load_docker_cache.sh
-
-install: true
-script:
-  - docker build ${TRAVIS_BUILD_DIR} -t cartographer:${LSB_RELEASE} -f Dockerfile.${LSB_RELEASE}
-      --build-arg cc=$CC --build-arg cxx=$CXX
-  - scripts/save_docker_cache.sh

README.rst

@@ -83,10 +83,10 @@ Slides of these Cartographer Open House meetings are listed below.
 - June 22, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170622/sildes.pdf>`_
 - June 8, 2017: `Slides <https://storage.googleapis.com/cartographer-public-data/cartographer-open-house/170608/slides.pdf>`_
 
-.. |build| image:: https://travis-ci.org/cartographer-project/cartographer.svg?branch=master
+.. |build| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
-    :alt: Build Status
+    :alt: Ubuntu 20.04 Build Status
     :scale: 100%
-    :target: https://travis-ci.org/cartographer-project/cartographer
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml
 .. |docs| image:: https://readthedocs.org/projects/google-cartographer/badge/?version=latest
     :alt: Documentation Status
     :scale: 100%

scripts/load_docker_cache.sh

@@ -1,26 +0,0 @@
-#!/bin/bash
-
-# 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.
-
-# Cache intermediate Docker layers. For a description of how this works, see:
-# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
-
-set -o errexit
-set -o verbose
-set -o pipefail
-
-if [ -f ${DOCKER_CACHE_FILE} ]; then
-  gunzip -c ${DOCKER_CACHE_FILE} | docker load;
-fi

scripts/save_docker_cache.sh

@@ -1,30 +0,0 @@
-#!/bin/bash
-
-# 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.
-
-# Cache intermediate Docker layers. For a description of how this works, see:
-# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
-
-set -o errexit
-set -o verbose
-set -o pipefail
-
-if [[ ${TRAVIS_BRANCH} == "master" ]] &&
-    [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then
-  mkdir -p $(dirname ${DOCKER_CACHE_FILE})
-  IMAGE_NAMES=$(docker history -q cartographer:${LSB_RELEASE} | grep -v '<missing>')
-  docker save ${IMAGE_NAMES} | gzip > ${DOCKER_CACHE_FILE}.new
-  mv ${DOCKER_CACHE_FILE}.new ${DOCKER_CACHE_FILE}
-fi