2016-08-30 14:33:45 +08:00
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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2020-08-31 21:59:36 +08:00
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FROM osrf/ros:kinetic-desktop
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2016-12-09 22:24:06 +08:00
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2017-06-14 20:44:16 +08:00
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ARG CARTOGRAPHER_VERSION=master
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2018-04-05 16:30:35 +08:00
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# We require a GitHub access token to be passed.
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ARG github_token
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2016-12-09 22:24:06 +08:00
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# Xenial's base image doesn't ship with sudo.
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2020-08-31 21:59:36 +08:00
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RUN apt-get update && apt-get install -y sudo
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2016-10-24 00:16:12 +08:00
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2020-06-24 16:55:03 +08:00
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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2016-10-25 21:41:00 +08:00
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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2020-06-24 16:55:03 +08:00
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ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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2016-10-25 21:41:00 +08:00
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cartographer_ros/cartographer_version.json
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2016-10-21 18:37:59 +08:00
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# wstool needs the updated rosinstall file to clone the correct repos.
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COPY cartographer_ros.rosinstall cartographer_ros/
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2016-10-24 00:16:12 +08:00
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COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
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2017-06-14 20:44:16 +08:00
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RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh
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2016-10-24 00:16:12 +08:00
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2016-10-21 18:37:59 +08:00
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# rosdep needs the updated package.xml files to install the correct debs.
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2016-10-24 00:16:12 +08:00
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COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
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COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
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2016-10-21 18:37:59 +08:00
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COPY scripts/install_debs.sh cartographer_ros/scripts/
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2020-08-31 21:59:36 +08:00
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RUN cartographer_ros/scripts/install_debs.sh
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2016-10-24 00:16:12 +08:00
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2020-06-25 19:04:21 +08:00
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# Install Abseil and proto3.
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RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
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2017-11-13 17:48:00 +08:00
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RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
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2016-12-09 22:24:06 +08:00
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# Build, install, and test all packages individually to allow caching. The
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# ordering of these steps must match the topological package ordering as
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# determined by Catkin.
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2016-10-24 00:16:12 +08:00
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COPY scripts/install.sh cartographer_ros/scripts/
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2016-12-07 20:12:09 +08:00
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COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
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2016-10-24 00:16:12 +08:00
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2016-12-09 22:24:06 +08:00
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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2016-12-07 20:12:09 +08:00
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
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2016-10-24 00:16:12 +08:00
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2017-03-25 00:44:33 +08:00
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RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
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RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
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cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
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2016-12-09 22:24:06 +08:00
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COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
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2016-12-07 20:12:09 +08:00
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
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2016-10-24 00:16:12 +08:00
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2016-12-09 22:24:06 +08:00
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
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2016-12-07 20:12:09 +08:00
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
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cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
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2016-10-24 00:16:12 +08:00
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2016-08-30 14:33:45 +08:00
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COPY scripts/ros_entrypoint.sh /
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2020-08-31 21:59:36 +08:00
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RUN rm -rf /var/lib/apt/lists/*
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2016-10-24 00:16:12 +08:00
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# A BTRFS bug may prevent us from cleaning up these directories.
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# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
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RUN rm -rf cartographer_ros catkin_ws || true
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