Adds Dockerfiles for CQ pipeline (#559)
Christoph Schütte
GitHub
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# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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FROM ros:kinetic
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ARG CARTOGRAPHER_VERSION=master
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# Xenial's base image doesn't ship with sudo.
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RUN apt-get update && apt-get install -y sudo time && rm -rf /var/lib/apt/lists/*
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# First, we invalidate the entire cache if googlecartographer/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/master \
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cartographer_ros/cartographer_version.json
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# wstool needs the updated rosinstall file to clone the correct repos.
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COPY cartographer_ros.rosinstall cartographer_ros/
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COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
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RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh
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# rosdep needs the updated package.xml files to install the correct debs.
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COPY cartographer_ros/package.xml catkin_ws/src/cartographer_ros/cartographer_ros/
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COPY cartographer_ros_msgs/package.xml catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_rviz/
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COPY scripts/install_debs.sh cartographer_ros/scripts/
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RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
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# Build, install, and test all packages individually to allow caching. The
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# ordering of these steps must match the topological package ordering as
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# determined by Catkin.
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COPY scripts/install.sh cartographer_ros/scripts/
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COPY scripts/catkin_test_results.sh cartographer_ros/scripts/
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COPY cartographer_ros_msgs catkin_ws/src/cartographer_ros/cartographer_ros_msgs/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros_msgs \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros_msgs
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RUN cartographer_ros/scripts/install.sh --pkg ceres-solver
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RUN cartographer_ros/scripts/install.sh --pkg cartographer && \
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cartographer_ros/scripts/install.sh --pkg cartographer --make-args test
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COPY cartographer_ros catkin_ws/src/cartographer_ros/cartographer_ros/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_ros && \
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cartographer_ros/scripts/install.sh --pkg cartographer_ros \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_ros
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COPY cartographer_rviz catkin_ws/src/cartographer_ros/cartographer_rviz/
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RUN cartographer_ros/scripts/install.sh --pkg cartographer_rviz && \
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cartographer_ros/scripts/install.sh --pkg cartographer_rviz \
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--catkin-make-args run_tests && \
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cartographer_ros/scripts/catkin_test_results.sh build_isolated/cartographer_rviz
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COPY scripts/ros_entrypoint.sh /
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# A BTRFS bug may prevent us from cleaning up these directories.
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# https://btrfs.wiki.kernel.org/index.php/Problem_FAQ#I_cannot_delete_an_empty_directory
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RUN rm -rf cartographer_ros catkin_ws || true
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RUN sudo apt-get update
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RUN sudo apt-get -y install openjdk-8-jdk
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ENV HOME /home/jenkins
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RUN addgroup --system --gid 10000 jenkins
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RUN adduser --system --ingroup jenkins --home $HOME --uid 10000 jenkins
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LABEL Description="This is a base image, which provides the Jenkins agent executable (slave.jar)" Vendor="Jenkins project" Version="3.10"
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ARG VERSION=3.10
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ARG AGENT_WORKDIR=/home/jenkins/agent
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RUN curl --create-dirs -sSLo /usr/share/jenkins/slave.jar https://repo.jenkins-ci.org/public/org/jenkins-ci/main/remoting/${VERSION}/remoting-${VERSION}.jar \
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&& chmod 755 /usr/share/jenkins \
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&& chmod 644 /usr/share/jenkins/slave.jar
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# USER jenkins
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ENV AGENT_WORKDIR=${AGENT_WORKDIR}
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RUN mkdir /home/jenkins/.jenkins && mkdir -p ${AGENT_WORKDIR}
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VOLUME /home/jenkins/.jenkins
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VOLUME ${AGENT_WORKDIR}
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WORKDIR /home/jenkins
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COPY jenkins/jenkins-slave /usr/local/bin/jenkins-slave
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ENV CLOUDSDK_CORE_DISABLE_PROMPTS 1
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ENV PATH /opt/google-cloud-sdk/bin:$PATH
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USER root
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# Install Google Cloud Components
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RUN curl https://sdk.cloud.google.com | bash && mv google-cloud-sdk /opt
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RUN gcloud components install kubectl
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# USER root
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ENTRYPOINT ["jenkins-slave"]
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#!/usr/bin/env sh
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# The MIT License
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#
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# Copyright (c) 2015, CloudBees, Inc.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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# Usage jenkins-slave.sh [options] -url http://jenkins [SECRET] [AGENT_NAME]
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# Optional environment variables :
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# * JENKINS_TUNNEL : HOST:PORT for a tunnel to route TCP traffic to jenkins host, when jenkins can't be directly accessed over network
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# * JENKINS_URL : alternate jenkins URL
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# * JENKINS_SECRET : agent secret, if not set as an argument
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# * JENKINS_AGENT_NAME : agent name, if not set as an argument
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/ros_entrypoint.sh
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if [ $# -eq 1 ]; then
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# if `docker run` only has one arguments, we assume user is running alternate command like `bash` to inspect the image
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exec "$@"
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else
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# if -tunnel is not provided try env vars
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case "$@" in
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*"-tunnel "*) ;;
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*)
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if [ ! -z "$JENKINS_TUNNEL" ]; then
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TUNNEL="-tunnel $JENKINS_TUNNEL"
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fi ;;
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esac
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if [ -n "$JENKINS_URL" ]; then
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URL="-url $JENKINS_URL"
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fi
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if [ -n "$JENKINS_NAME" ]; then
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JENKINS_AGENT_NAME="$JENKINS_NAME"
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fi
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if [ -z "$JNLP_PROTOCOL_OPTS" ]; then
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echo "Warning: JnlpProtocol3 is disabled by default, use JNLP_PROTOCOL_OPTS to alter the behavior"
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JNLP_PROTOCOL_OPTS="-Dorg.jenkinsci.remoting.engine.JnlpProtocol3.disabled=true"
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fi
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# If both required options are defined, do not pass the parameters
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OPT_JENKINS_SECRET=""
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if [ -n "$JENKINS_SECRET" ]; then
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case "$@" in
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*"${JENKINS_SECRET}"*) echo "Warning: SECRET is defined twice in command-line arguments and the environment variable" ;;
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*)
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OPT_JENKINS_SECRET="${JENKINS_SECRET}" ;;
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esac
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fi
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OPT_JENKINS_AGENT_NAME=""
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if [ -n "$JENKINS_AGENT_NAME" ]; then
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case "$@" in
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*"${JENKINS_AGENT_NAME}"*) echo "Warning: AGENT_NAME is defined twice in command-line arguments and the environment variable" ;;
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*)
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OPT_JENKINS_AGENT_NAME="${JENKINS_AGENT_NAME}" ;;
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esac
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fi
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#TODO: Handle the case when the command-line and Environment variable contain different values.
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#It is fine it blows up for now since it should lead to an error anyway.
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exec java $JAVA_OPTS $JNLP_PROTOCOL_OPTS -cp /usr/share/jenkins/slave.jar hudson.remoting.jnlp.Main -headless $TUNNEL $URL $OPT_JENKINS_SECRET $OPT_JENKINS_AGENT_NAME "$@"
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fi
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