Adds Dockerfiles for CQ pipeline (#559)
Christoph Schütte
GitHub
parent
b1184b1054
commit
b0f9bae145
|
|
@ -0,0 +1,109 @@
|
||||||
|
# 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.
|
||||||
|
|
||||||
|
FROM ros:kinetic
|
||||||
|
|
||||||
|
ARG CARTOGRAPHER_VERSION=master
|
||||||
|
|
||||||
|
# Xenial's base image doesn't ship with sudo.
|
||||||
|
RUN apt-get update && apt-get install -y sudo time && 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 \
|
||||||
|
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/*
|
||||||
|
|
||||||
|
# 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
|
||||||
|
|
||||||
|
RUN sudo apt-get update
|
||||||
|
RUN sudo apt-get -y install openjdk-8-jdk
|
||||||
|
|
||||||
|
ENV HOME /home/jenkins
|
||||||
|
RUN addgroup --system --gid 10000 jenkins
|
||||||
|
RUN adduser --system --ingroup jenkins --home $HOME --uid 10000 jenkins
|
||||||
|
|
||||||
|
LABEL Description="This is a base image, which provides the Jenkins agent executable (slave.jar)" Vendor="Jenkins project" Version="3.10"
|
||||||
|
|
||||||
|
ARG VERSION=3.10
|
||||||
|
ARG AGENT_WORKDIR=/home/jenkins/agent
|
||||||
|
|
||||||
|
RUN curl --create-dirs -sSLo /usr/share/jenkins/slave.jar https://repo.jenkins-ci.org/public/org/jenkins-ci/main/remoting/${VERSION}/remoting-${VERSION}.jar \
|
||||||
|
&& chmod 755 /usr/share/jenkins \
|
||||||
|
&& chmod 644 /usr/share/jenkins/slave.jar
|
||||||
|
# USER jenkins
|
||||||
|
ENV AGENT_WORKDIR=${AGENT_WORKDIR}
|
||||||
|
RUN mkdir /home/jenkins/.jenkins && mkdir -p ${AGENT_WORKDIR}
|
||||||
|
|
||||||
|
VOLUME /home/jenkins/.jenkins
|
||||||
|
VOLUME ${AGENT_WORKDIR}
|
||||||
|
WORKDIR /home/jenkins
|
||||||
|
|
||||||
|
COPY jenkins/jenkins-slave /usr/local/bin/jenkins-slave
|
||||||
|
|
||||||
|
ENV CLOUDSDK_CORE_DISABLE_PROMPTS 1
|
||||||
|
ENV PATH /opt/google-cloud-sdk/bin:$PATH
|
||||||
|
|
||||||
|
USER root
|
||||||
|
|
||||||
|
# Install Google Cloud Components
|
||||||
|
RUN curl https://sdk.cloud.google.com | bash && mv google-cloud-sdk /opt
|
||||||
|
RUN gcloud components install kubectl
|
||||||
|
|
||||||
|
# USER root
|
||||||
|
ENTRYPOINT ["jenkins-slave"]
|
||||||
|
|
@ -0,0 +1,86 @@
|
||||||
|
#!/usr/bin/env sh
|
||||||
|
|
||||||
|
# The MIT License
|
||||||
|
#
|
||||||
|
# Copyright (c) 2015, CloudBees, Inc.
|
||||||
|
#
|
||||||
|
# Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||||
|
# of this software and associated documentation files (the "Software"), to deal
|
||||||
|
# in the Software without restriction, including without limitation the rights
|
||||||
|
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
# copies of the Software, and to permit persons to whom the Software is
|
||||||
|
# furnished to do so, subject to the following conditions:
|
||||||
|
#
|
||||||
|
# The above copyright notice and this permission notice shall be included in
|
||||||
|
# all copies or substantial portions of the Software.
|
||||||
|
#
|
||||||
|
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||||
|
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||||
|
# THE SOFTWARE.
|
||||||
|
|
||||||
|
# Usage jenkins-slave.sh [options] -url http://jenkins [SECRET] [AGENT_NAME]
|
||||||
|
# Optional environment variables :
|
||||||
|
# * JENKINS_TUNNEL : HOST:PORT for a tunnel to route TCP traffic to jenkins host, when jenkins can't be directly accessed over network
|
||||||
|
# * JENKINS_URL : alternate jenkins URL
|
||||||
|
# * JENKINS_SECRET : agent secret, if not set as an argument
|
||||||
|
# * JENKINS_AGENT_NAME : agent name, if not set as an argument
|
||||||
|
|
||||||
|
/ros_entrypoint.sh
|
||||||
|
|
||||||
|
if [ $# -eq 1 ]; then
|
||||||
|
|
||||||
|
# if `docker run` only has one arguments, we assume user is running alternate command like `bash` to inspect the image
|
||||||
|
exec "$@"
|
||||||
|
|
||||||
|
else
|
||||||
|
|
||||||
|
# if -tunnel is not provided try env vars
|
||||||
|
case "$@" in
|
||||||
|
*"-tunnel "*) ;;
|
||||||
|
*)
|
||||||
|
if [ ! -z "$JENKINS_TUNNEL" ]; then
|
||||||
|
TUNNEL="-tunnel $JENKINS_TUNNEL"
|
||||||
|
fi ;;
|
||||||
|
esac
|
||||||
|
|
||||||
|
if [ -n "$JENKINS_URL" ]; then
|
||||||
|
URL="-url $JENKINS_URL"
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -n "$JENKINS_NAME" ]; then
|
||||||
|
JENKINS_AGENT_NAME="$JENKINS_NAME"
|
||||||
|
fi
|
||||||
|
|
||||||
|
if [ -z "$JNLP_PROTOCOL_OPTS" ]; then
|
||||||
|
echo "Warning: JnlpProtocol3 is disabled by default, use JNLP_PROTOCOL_OPTS to alter the behavior"
|
||||||
|
JNLP_PROTOCOL_OPTS="-Dorg.jenkinsci.remoting.engine.JnlpProtocol3.disabled=true"
|
||||||
|
fi
|
||||||
|
|
||||||
|
# If both required options are defined, do not pass the parameters
|
||||||
|
OPT_JENKINS_SECRET=""
|
||||||
|
if [ -n "$JENKINS_SECRET" ]; then
|
||||||
|
case "$@" in
|
||||||
|
*"${JENKINS_SECRET}"*) echo "Warning: SECRET is defined twice in command-line arguments and the environment variable" ;;
|
||||||
|
*)
|
||||||
|
OPT_JENKINS_SECRET="${JENKINS_SECRET}" ;;
|
||||||
|
esac
|
||||||
|
fi
|
||||||
|
|
||||||
|
OPT_JENKINS_AGENT_NAME=""
|
||||||
|
if [ -n "$JENKINS_AGENT_NAME" ]; then
|
||||||
|
case "$@" in
|
||||||
|
*"${JENKINS_AGENT_NAME}"*) echo "Warning: AGENT_NAME is defined twice in command-line arguments and the environment variable" ;;
|
||||||
|
*)
|
||||||
|
OPT_JENKINS_AGENT_NAME="${JENKINS_AGENT_NAME}" ;;
|
||||||
|
esac
|
||||||
|
fi
|
||||||
|
|
||||||
|
#TODO: Handle the case when the command-line and Environment variable contain different values.
|
||||||
|
#It is fine it blows up for now since it should lead to an error anyway.
|
||||||
|
|
||||||
|
exec java $JAVA_OPTS $JNLP_PROTOCOL_OPTS -cp /usr/share/jenkins/slave.jar hudson.remoting.jnlp.Main -headless $TUNNEL $URL $OPT_JENKINS_SECRET $OPT_JENKINS_AGENT_NAME "$@"
|
||||||
|
fi
|
||||||
Loading…
Reference in New Issue