Add Ubuntu 22.04 to the install scripts, CI, docs. (#1888)

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

.github/workflows/ci-jammy.yaml

@@ -0,0 +1,15 @@
+name: Ubuntu 22.04 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.jammy

Dockerfile.bionic

@@ -22,7 +22,7 @@ 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. 
+# 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/

Dockerfile.focal

@@ -22,7 +22,7 @@ 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. 
+# 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/

Dockerfile.jammy

@@ -0,0 +1,31 @@
+# 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:jammy
+
+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 . cartographer
+RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

README.rst

@@ -16,7 +16,7 @@
 Cartographer
 ============
 
-|build| |docs| |license|
+|build-jammy| |build-focal| |docs| |license|
 
 Purpose
 =======
@@ -83,7 +83,11 @@ 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://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
+.. |build-jammy| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml/badge.svg
+    :alt: Ubuntu 22.04 Build Status
+    :scale: 100%
+    :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-jammy.yaml
+.. |build-focal| image:: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml/badge.svg
     :alt: Ubuntu 20.04 Build Status
     :scale: 100%
     :target: https://github.com/cartographer-project/cartographer/actions/workflows/ci-focal.yaml

docs/source/index.rst

@@ -75,10 +75,6 @@ On Ubuntu 18.04 (Bionic):
   :language: bash
   :lines: 20-
 
-.. literalinclude:: ../../scripts/install_ceres.sh
-  :language: bash
-  :lines: 20-
-
 .. literalinclude:: ../../scripts/install_proto3.sh
   :language: bash
   :lines: 20-
@@ -97,8 +93,8 @@ on systems that meet the following requirements:
 
 * 64-bit, modern CPU (e.g. 3rd generation i7)
 * 16 GB RAM
-* Ubuntu 18.04 (Bionic), 20.04 (Focal)
-* gcc version 6.3.0, 7.5.0, 9.3.0
+* Ubuntu 18.04 (Bionic), 20.04 (Focal), 22.04 (Jammy)
+* gcc version 6.3.0, 7.5.0, 9.3.0, 11.2.0
 
 Known Issues
 ------------

scripts/install_abseil.sh

@@ -19,7 +19,7 @@ set -o verbose
 
 git clone https://github.com/abseil/abseil-cpp.git
 cd abseil-cpp
-git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+git checkout 215105818dfde3174fe799600bb0f3cae233d0bf # 20211102.0
 mkdir build
 cd build
 cmake -G Ninja \

scripts/install_debs_cmake.sh

@@ -37,17 +37,15 @@ sudo apt-get install -y \
     ninja-build \
     stow
 
-# Install Ceres Solver and Protocol Buffers support if available.
+# Install Ceres Solver, Protocol Buffers, Abseil support if available.
 # No need to build it ourselves.
-if [[ "$(lsb_release -sc)" = "focal" || "$(lsb_release -sc)" = "buster" ]]
-then
-  sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler
-else
-  sudo apt-get install -y python-sphinx
-  if [[ "$(lsb_release -sc)" = "bionic" ]]
-  then
-    sudo apt-get install -y libceres-dev
-  fi
-fi
-
-
+case "$(lsb_release -sc)" in
+    jammy)
+        sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler libabsl-dev ;;
+    focal|buster)
+        sudo apt-get install -y python3-sphinx libgmock-dev libceres-dev protobuf-compiler ;;
+    bionic)
+        sudo apt-get install -y python-sphinx libceres-dev ;;
+    *)
+        sudo apt-get install -y python-sphinx ;;
+esac