From 5b433db27970325780bd2d5d602ed39eeddc215a Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@google.com>
Date: Tue, 22 Nov 2016 17:03:04 +0100
Subject: [PATCH] Depend on Ceres 1.12.0rc4 directly. (#182)

---
 Dockerfile                  |  4 +---
 cartographer_ros.rosinstall |  1 +
 ceres_solver/CMakeLists.txt | 32 -----------------------------
 ceres_solver/package.xml    | 41 -------------------------------------
 4 files changed, 2 insertions(+), 76 deletions(-)
 delete mode 100644 ceres_solver/CMakeLists.txt
 delete mode 100644 ceres_solver/package.xml

diff --git a/Dockerfile b/Dockerfile
index 45bf056..f4b969a 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -32,15 +32,13 @@ RUN cartographer_ros/scripts/prepare_catkin_workspace.sh && \
 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 ceres_solver/package.xml catkin_ws/src/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/*
 
 # Build, install, and test all packages individually to allow caching.
 COPY scripts/install.sh cartographer_ros/scripts/
 
-COPY ceres_solver catkin_ws/src/cartographer_ros/
-RUN cartographer_ros/scripts/install.sh --pkg ceres_solver
+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
diff --git a/cartographer_ros.rosinstall b/cartographer_ros.rosinstall
index 1eb2d44..00f0682 100644
--- a/cartographer_ros.rosinstall
+++ b/cartographer_ros.rosinstall
@@ -1,2 +1,3 @@
 - git: {local-name: cartographer, uri: 'https://github.com/googlecartographer/cartographer.git'}
 - git: {local-name: cartographer_ros, uri: 'https://github.com/googlecartographer/cartographer_ros.git'}
+- git: {local-name: ceres-solver, uri: 'https://ceres-solver.googlesource.com/ceres-solver.git', version: '1.12.0rc4'}
diff --git a/ceres_solver/CMakeLists.txt b/ceres_solver/CMakeLists.txt
deleted file mode 100644
index 24aee77..0000000
--- a/ceres_solver/CMakeLists.txt
+++ /dev/null
@@ -1,32 +0,0 @@
-# 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.
-
-cmake_minimum_required(VERSION 2.8.7)
-
-project(ceres_solver)
-
-include(ExternalProject)
-set(TAG 6a13e39e8171f450fbb89188d97f198def81937e) # Version 1.11
-ExternalProject_Add(ceres_src
-  GIT_REPOSITORY https://ceres-solver.googlesource.com/ceres-solver
-  GIT_TAG ${TAG}
-  CMAKE_ARGS
-      -DCMAKE_INSTALL_PREFIX:PATH=${CMAKE_INSTALL_PREFIX}
-      -DBUILD_EXAMPLES=OFF
-      -DBUILD_TESTING=OFF
-)
-
-# Ceres is installed via the ExternalProject_Add command above. However, we
-# must provide this no-op install target to satisfy Catkin.
-install(CODE "")
diff --git a/ceres_solver/package.xml b/ceres_solver/package.xml
deleted file mode 100644
index 67897ba..0000000
--- a/ceres_solver/package.xml
+++ /dev/null
@@ -1,41 +0,0 @@
-<?xml version="1.0"?>
-<!--
-  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.
--->
-
-<package format="2">
-  <name>ceres_solver</name>
-  <version>1.11.0</version>
-  <description>ceres_solver</description>
-  <maintainer email="google-cartographer@googlegroups.com">
-    The Cartographer Authors
-  </maintainer>
-  <license>New BSD</license>
-  <url type="website">http://ceres-solver.org/</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <depend>atlas</depend>
-  <depend>libblas-dev</depend>
-  <depend>eigen</depend>
-  <depend>gfortran</depend>
-  <depend>libgflags-dev</depend>
-  <depend>libgoogle-glog-dev</depend>
-  <depend>suitesparse</depend>
-
-  <export>
-    <build_type>cmake</build_type>
-  </export>
-</package>