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Introduce base image for melodic to speed up CI (#1021)

master
Christoph Schütte 2018-09-26 11:16:45 +02:00 committed by gaschler
parent 4a2b19a86e
commit 00813a4d6b
3 changed files with 69 additions and 6 deletions
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43
Dockerfile.base.melodic Normal file
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@ -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

9
Dockerfile.melodic
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@ -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.

23
scripts/update_catkin_workspace.sh Executable file
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#!/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