From 00813a4d6bf211ba4ab1ad8d05d472d382236fcd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Sch=C3=BCtte?= <cschuet@google.com>
Date: Wed, 26 Sep 2018 11:16:45 +0200
Subject: [PATCH] Introduce base image for melodic to speed up CI (#1021)

---
 Dockerfile.base.melodic            | 43 ++++++++++++++++++++++++++++++
 Dockerfile.melodic                 |  9 +++----
 scripts/update_catkin_workspace.sh | 23 ++++++++++++++++
 3 files changed, 69 insertions(+), 6 deletions(-)
 create mode 100644 Dockerfile.base.melodic
 create mode 100755 scripts/update_catkin_workspace.sh

diff --git a/Dockerfile.base.melodic b/Dockerfile.base.melodic
new file mode 100644
index 0000000..4b2274f
--- /dev/null
+++ b/Dockerfile.base.melodic
@@ -0,0 +1,43 @@
+# Copyright 2018 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 ros:melodic
+
+ARG CARTOGRAPHER_VERSION=master
+
+# Bionic's base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+
+# First, we invalidate the entire cache if googlecartographer/cartographer has
+# changed. This file's content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \
+    cartographer_ros/cartographer_version.json
+
+# wstool needs the updated rosinstall file to clone the correct repos.
+COPY cartographer_ros.rosinstall cartographer_ros/
+COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
+RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
+    cartographer_ros/scripts/prepare_catkin_workspace.sh
+
+# rosdep needs the updated package.xml files to install the correct debs.
+COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
+COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
+COPY scripts/install_debs.sh cartographer_ros/scripts/
+RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
+
+# Install proto3.
+RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
+
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
index 3091e77..86523f7 100644
--- a/Dockerfile.melodic
+++ b/Dockerfile.melodic
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM ros:melodic
+FROM eu.gcr.io/cartographer-141408/cartographer_ros_melodic_base
 
 ARG CARTOGRAPHER_VERSION=master
 
@@ -30,9 +30,9 @@ ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/
 
 # wstool needs the updated rosinstall file to clone the correct repos.
 COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
+COPY scripts/update_catkin_workspace.sh cartographer_ros/scripts/
 RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/prepare_catkin_workspace.sh
+    cartographer_ros/scripts/update_catkin_workspace.sh
 
 # rosdep needs the updated package.xml files to install the correct debs.
 COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
@@ -41,9 +41,6 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 COPY scripts/install_debs.sh cartographer_ros/scripts/
 RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 
-# Install proto3.
-RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
-
 # Build, install, and test all packages individually to allow caching. The
 # ordering of these steps must match the topological package ordering as
 # determined by Catkin.
diff --git a/scripts/update_catkin_workspace.sh b/scripts/update_catkin_workspace.sh
new file mode 100755
index 0000000..fa70f40
--- /dev/null
+++ b/scripts/update_catkin_workspace.sh
@@ -0,0 +1,23 @@
+#!/bin/sh
+
+# Copyright 2018 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.
+
+set -o errexit
+set -o verbose
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+cd catkin_ws/src
+wstool update