From 37b2d40bb748c0dd9c98f907229fcac88c6bb4be Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael@osrfoundation.org>
Date: Fri, 25 May 2018 04:11:47 +0200
Subject: [PATCH] add ROS melodic to CI (#870)

ROS melodic [will be released soon](https://discourse.ros.org/t/ros-melodic-morenia-beta-has-begun/4743), cartographer_ros 0.3.0 is already [released in melodic](https://github.com/ros/rosdistro/pull/17719). Testing master on CI would be valuable for users building from source as well as for reducing the testing when the time comes to release a new version in ROS.
---
 .travis.yml        |  1 +
 Dockerfile.melodic | 79 ++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 80 insertions(+)
 create mode 100644 Dockerfile.melodic

diff --git a/.travis.yml b/.travis.yml
index 7362eb6..a8e9a42 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -25,6 +25,7 @@ env:
   - ROS_RELEASE=indigo DOCKER_CACHE_FILE=/home/travis/docker/indigo-cache.tar.gz
   - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
   - ROS_RELEASE=lunar DOCKER_CACHE_FILE=/home/travis/docker/lunar-cache.tar.gz
+  - ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz
 
 before_install:
   # $GITHUB_TOKEN must be a valid GitHub access token without access rights (https://github.com/settings/tokens).
diff --git a/Dockerfile.melodic b/Dockerfile.melodic
new file mode 100644
index 0000000..3091e77
--- /dev/null
+++ b/Dockerfile.melodic
@@ -0,0 +1,79 @@
+# Copyright 2018 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM ros:melodic
+
+ARG CARTOGRAPHER_VERSION=master
+
+# We require a GitHub access token to be passed.
+ARG github_token
+
+# Bionic's base image doesn't ship with sudo.
+RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
+
+# First, we invalidate the entire cache if googlecartographer/cartographer has
+# changed. This file's content changes whenever master changes. See:
+# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
+ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master?access_token=$github_token \
+    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
+
+# 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.
+COPY scripts/install.sh cartographer_ros/scripts/
+COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
+
+COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
+
+RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
+
+RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
+    cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
+
+COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_ros \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
+
+COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
+RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
+    cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
+        --catkin-make-args run_tests && \
+    cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
+
+COPY scripts/ros_entrypoint.sh /
+# A BTRFS bug may prevent us from cleaning up these directories.
+# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
+RUN rm -rf cartographer_ros catkin_ws || true