cartographer_ros/jenkins/Jenkinsfile

podTemplate(label: 'node-0', containers: [
    containerTemplate(
          name: 'jnlp',
          image: 'eggsy84/gcp-jenkins-slave-k8s-seed:latest',
          ttyEnabled: false,
          command: '',
          privileged: true,
          alwaysPullImage: false,
          workingDir: '/home/jenkins',
          args: '${computer.jnlpmac} ${computer.name}'
        )
    ],
    volumes: [
          secretVolume(mountPath: '/opt/config', secretName: 'gcloud-svc-account'),
          hostPathVolume(mountPath: '/var/run/docker.sock', hostPath: '/var/run/docker.sock'),
          persistentVolumeClaim(claimName: 'data-claim-compile', mountPath: '/data'),
    ]
) {
    node('node-0') {
      stage('Compile') {
        sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
        sh 'cd /data && rm -Rf *'
        sh 'cd /data && git clone https://github.com/googlecartographer/cartographer_ros'
        sh 'cd /data/cartographer_ros && docker build -f jenkins/Dockerfile.kinetic -t kinetic-jenkins-slave .'
      }
      stage('Push') {
        sh 'docker tag kinetic-jenkins-slave eu.gcr.io/cartographer-141408/kinetic-jenkins-slave'
        sh 'gcloud docker -- push eu.gcr.io/cartographer-141408/kinetic-jenkins-slave'
        sh 'cd /data && rm -Rf *'
      }
    }
}

podTemplate(label: 'node-1', containers: [
    containerTemplate(
          name: 'jnlp',
          image: 'eu.gcr.io/cartographer-141408/kinetic-jenkins-slave:latest',
          ttyEnabled: false,
          command: '',
          privileged: true,
          alwaysPullImage: true,
          workingDir: '/home/jenkins',
          args: '${computer.jnlpmac} ${computer.name}'
        )
    ],
    volumes: [
          secretVolume(mountPath: '/opt/config', secretName: 'gcloud-svc-account'),
          hostPathVolume(mountPath: '/var/run/docker.sock', hostPath: '/var/run/docker.sock'),
          persistentVolumeClaim(claimName: 'data-claim-compile', mountPath: '/data'),
    ]
) {
    node('node-1') {
      stage('Run Fetch Pipeline') {
        sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
        sh 'GOOGLE_APPLICATION_CREDENTIALS="/opt/config/gcloud-svc-account.json" GOOGLE_CLOUD_DISABLE_GRPC=True python /worker.py --worker_id 0 --num_workers 1 --pipeline_id fetch'
      }
    }
}

podTemplate(label: 'node-2', containers: [
    containerTemplate(
          name: 'jnlp',
          image: 'eu.gcr.io/cartographer-141408/kinetic-jenkins-slave:latest',
          ttyEnabled: false,
          command: '',
          privileged: true,
          alwaysPullImage: true,
          workingDir: '/home/jenkins',
          args: '${computer.jnlpmac} ${computer.name}'
        )
    ],
    volumes: [
          secretVolume(mountPath: '/opt/config', secretName: 'gcloud-svc-account'),
          hostPathVolume(mountPath: '/var/run/docker.sock', hostPath: '/var/run/docker.sock'),
          persistentVolumeClaim(claimName: 'data-claim-compile', mountPath: '/data'),
    ]
) {
    node('node-2') {
      stage('Run Backpack Pipeline') {
        sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
        sh 'GOOGLE_APPLICATION_CREDENTIALS="/opt/config/gcloud-svc-account.json" GOOGLE_CLOUD_DISABLE_GRPC=True python /worker.py --worker_id 0 --num_workers 1 --pipeline_id backpack'
      }
    }
}

podTemplate(label: 'node-3', containers: [
    containerTemplate(
          name: 'jnlp',
          image: 'eu.gcr.io/cartographer-141408/kinetic-jenkins-slave:latest',
          ttyEnabled: false,
          command: '',
          privileged: true,
          alwaysPullImage: true,
          workingDir: '/home/jenkins',
          args: '${computer.jnlpmac} ${computer.name}'
        )
    ],
    volumes: [
          secretVolume(mountPath: '/opt/config', secretName: 'gcloud-svc-account'),
          hostPathVolume(mountPath: '/var/run/docker.sock', hostPath: '/var/run/docker.sock'),
          persistentVolumeClaim(claimName: 'data-claim-compile', mountPath: '/data'),
    ]
) {
    node('node-3') {
      stage('Run Toru Pipeline') {
        sh 'gcloud auth activate-service-account --key-file=/opt/config/gcloud-svc-account.json'
        sh 'GOOGLE_APPLICATION_CREDENTIALS="/opt/config/gcloud-svc-account.json" GOOGLE_CLOUD_DISABLE_GRPC=True python /worker.py --worker_id 0 --num_workers 1 --pipeline_id toru'
      }
    }
}