diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic index 72f0e41..77fe919 100644 --- a/Dockerfile.kinetic +++ b/Dockerfile.kinetic @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -FROM ros:kinetic +FROM osrf/ros:kinetic-desktop ARG CARTOGRAPHER_VERSION=master @@ -20,7 +20,7 @@ ARG CARTOGRAPHER_VERSION=master ARG github_token # Xenial's base image doesn't ship with sudo. -RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/* +RUN apt-get update && apt-get install -y sudo # First, we invalidate the entire cache if cartographer-project/cartographer has # changed. This file's content changes whenever master changes. See: @@ -39,7 +39,7 @@ COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ro 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/* +RUN cartographer_ros/scripts/install_debs.sh # Install Abseil and proto3. RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh @@ -75,6 +75,8 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \ cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz COPY scripts/ros_entrypoint.sh / + +RUN rm -rf /var/lib/apt/lists/* # 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 diff --git a/Dockerfile.melodic b/Dockerfile.melodic index 38a9a89..55baf91 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 osrf/ros:melodic-desktop ARG CARTOGRAPHER_VERSION=master @@ -20,7 +20,7 @@ ARG CARTOGRAPHER_VERSION=master 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/* +RUN apt-get update && apt-get install -y sudo # First, we invalidate the entire cache if cartographer-project/cartographer has # changed. This file's content changes whenever master changes. See: @@ -39,11 +39,10 @@ COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ro 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/* +RUN cartographer_ros/scripts/install_debs.sh -# Install Abseil and proto3. +# Install Abseil. RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh -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 @@ -57,7 +56,7 @@ RUN 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 apt-get install -y libceres-dev RUN cartographer_ros/scripts/install.sh --pkg cartographer && \ cartographer_ros/scripts/install.sh --pkg cartographer --make-args test @@ -75,6 +74,8 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \ cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz COPY scripts/ros_entrypoint.sh / + +RUN rm -rf /var/lib/apt/lists/* # 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 diff --git a/Dockerfile.noetic b/Dockerfile.noetic index 97cf6e1..87cd653 100644 --- a/Dockerfile.noetic +++ b/Dockerfile.noetic @@ -12,7 +12,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -FROM ros:noetic +FROM osrf/ros:noetic-desktop ARG CARTOGRAPHER_VERSION=master @@ -24,7 +24,7 @@ ARG github_token ARG DEBIAN_FRONTEND=noninteractive # ROS Noetic's base image doesn't ship with sudo and git. -RUN apt-get update && apt-get install -y sudo git && rm -rf /var/lib/apt/lists/* +RUN apt-get update && apt-get install -y sudo git # First, we invalidate the entire cache if cartographer-project/cartographer has # changed. This file's content changes whenever master changes. See: @@ -43,11 +43,10 @@ COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ro 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/* +RUN cartographer_ros/scripts/install_debs.sh -# Install Abseil and proto3. +# Install Abseil. RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh -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 @@ -61,7 +60,7 @@ RUN 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 apt-get install -y libceres-dev RUN cartographer_ros/scripts/install.sh --pkg cartographer && \ cartographer_ros/scripts/install.sh --pkg cartographer --make-args test @@ -79,6 +78,8 @@ RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \ cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz COPY scripts/ros_entrypoint.sh / + +RUN rm -rf /var/lib/apt/lists/* # 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