From 20487028ed36c558336a873860cfe90340e8662f Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Fri, 21 Oct 2016 12:37:59 +0200 Subject: [PATCH] Adds Docker caching to Travis build. (#137) --- .travis.yml | 15 +++++++- Dockerfile | 11 +++++- ...install.sh => install_cartographer_ros.sh} | 19 ---------- scripts/install_debs.sh | 37 +++++++++++++++++++ scripts/load_docker_cache.sh | 26 +++++++++++++ scripts/save_docker_cache.sh | 29 +++++++++++++++ 6 files changed, 116 insertions(+), 21 deletions(-) rename scripts/{install.sh => install_cartographer_ros.sh} (74%) create mode 100755 scripts/install_debs.sh create mode 100755 scripts/load_docker_cache.sh create mode 100755 scripts/save_docker_cache.sh diff --git a/.travis.yml b/.travis.yml index 6e885c8..7a41d46 100644 --- a/.travis.yml +++ b/.travis.yml @@ -14,5 +14,18 @@ sudo: required services: docker + +# Cache intermediate Docker layers. For a description of how this works, see: +# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html +cache: + directories: + - /home/travis/docker/ +env: + global: + - DOCKER_CACHE_FILE=/home/travis/docker/cache.tar.gz +before_install: scripts/load_docker_cache.sh + install: true -script: docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros +script: + - docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros + - scripts/save_docker_cache.sh diff --git a/Dockerfile b/Dockerfile index f95ca98..1fa877a 100644 --- a/Dockerfile +++ b/Dockerfile @@ -13,6 +13,15 @@ # limitations under the License. FROM ros:indigo +# wstool needs the updated rosinstall file to clone the correct repos. +COPY cartographer_ros.rosinstall cartographer_ros/ +# rosdep needs the updated package.xml files to install the correct debs. +COPY cartographer_ros/package.xml cartographer_ros/cartographer_ros/ +COPY cartographer_ros_msgs/package.xml cartographer_ros/cartographer_ros_msgs/ +COPY cartographer_rviz/package.xml cartographer_ros/cartographer_rviz/ +COPY ceres_solver/package.xml cartographer_ros/ceres_solver/ +COPY scripts/install_debs.sh cartographer_ros/scripts/ +RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/* COPY . cartographer_ros -RUN cartographer_ros/scripts/install.sh +RUN cartographer_ros/scripts/install_cartographer_ros.sh && rm -rf catkin_ws COPY scripts/ros_entrypoint.sh / diff --git a/scripts/install.sh b/scripts/install_cartographer_ros.sh similarity index 74% rename from scripts/install.sh rename to scripts/install_cartographer_ros.sh index 8ebba19..58be9f7 100755 --- a/scripts/install.sh +++ b/scripts/install_cartographer_ros.sh @@ -17,29 +17,14 @@ set -o errexit set -o verbose -# Install Ninja. -sudo apt-get update -sudo apt-get install -y ninja-build - . /opt/ros/${ROS_DISTRO}/setup.sh -# Create a new workspace in 'catkin_ws'. -mkdir catkin_ws cd catkin_ws -wstool init src - -# Merge the cartographer_ros.rosinstall file and fetch code for dependencies. -wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall -wstool update -t src # Use the local version of cartographer_ros to include local modifications. rm -rf src/cartographer_ros mv ../cartographer_ros src -# Install rosdep dependencies. -rosdep update -rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y - # Build, install, and test. # # It's necessary to use the '--install' flag for every call to @@ -50,7 +35,3 @@ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install" catkin_make_isolated ${BUILD_FLAGS} --catkin-make-args run_tests catkin_make_isolated ${BUILD_FLAGS} --pkg cartographer --make-args test - -# Clean up. -cd .. -rm -rf catkin_ws /var/lib/apt/lists/* diff --git a/scripts/install_debs.sh b/scripts/install_debs.sh new file mode 100755 index 0000000..a6f3712 --- /dev/null +++ b/scripts/install_debs.sh @@ -0,0 +1,37 @@ +#!/bin/sh + +# Copyright 2016 The Cartographer Authors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +set -o errexit +set -o verbose + +# Install Ninja. +sudo apt-get update +sudo apt-get install -y ninja-build + +. /opt/ros/${ROS_DISTRO}/setup.sh + +# Create a new workspace in 'catkin_ws'. +mkdir catkin_ws +cd catkin_ws +wstool init src + +# Merge the cartographer_ros.rosinstall file and fetch code for dependencies. +wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall +wstool update -t src + +# Install rosdep dependencies. +rosdep update +rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y diff --git a/scripts/load_docker_cache.sh b/scripts/load_docker_cache.sh new file mode 100755 index 0000000..4c37247 --- /dev/null +++ b/scripts/load_docker_cache.sh @@ -0,0 +1,26 @@ +#!/bin/bash + +# Copyright 2016 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. + +# Cache intermediate Docker layers. For a description of how this works, see: +# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html + +set -o errexit +set -o verbose +set -o pipefail + +if [ -f ${DOCKER_CACHE_FILE} ]; then + gunzip -c ${DOCKER_CACHE_FILE} | docker load; +fi diff --git a/scripts/save_docker_cache.sh b/scripts/save_docker_cache.sh new file mode 100755 index 0000000..d22e1ed --- /dev/null +++ b/scripts/save_docker_cache.sh @@ -0,0 +1,29 @@ +#!/bin/bash + +# Copyright 2016 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. + +# Cache intermediate Docker layers. For a description of how this works, see: +# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html + +set -o errexit +set -o verbose +set -o pipefail + +if [[ ${TRAVIS_BRANCH} == "master" ]] && + [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then + mkdir -p $(dirname ${DOCKER_CACHE_FILE}); + docker save $(docker history -q cartographer_ros | + grep -v '') | gzip > ${DOCKER_CACHE_FILE}; +fi