Remove Kinetic and fix CI (#1746)
* remove kinetic from CI and docs, EOL distribution * fix CI badge * Update REST call for github APImaster
Bo Chen
GitHub
parent
741beb64ce
commit
c138034db0
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@ -22,7 +22,6 @@ cache:
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- /home/travis/docker/
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env:
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- ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz
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- ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz
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- ROS_RELEASE=noetic DOCKER_CACHE_FILE=/home/travis/docker/noetic-cache.tar.gz
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@ -34,5 +33,5 @@ before_install:
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install: true
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script:
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- docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg github_token=${GITHUB_TOKEN}
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- scripts/build_docker.sh $GITHUB_TOKEN
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- scripts/save_docker_cache.sh
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@ -1,80 +0,0 @@
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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 osrf/ros:kinetic-desktop
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ARG CARTOGRAPHER_VERSION=master
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# We require a GitHub access token to be passed.
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ARG github_token
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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
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# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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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
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# Install Abseil and proto3.
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RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh
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RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
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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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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_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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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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RUN rm -rf /var/lib/apt/lists/*
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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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@ -15,23 +15,20 @@
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FROM osrf/ros:melodic-desktop
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ARG CARTOGRAPHER_VERSION=master
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# We require a GitHub access token to be passed.
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ARG github_token
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ARG CARTOGRAPHER_SHA=LATEST
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# Bionic's base image doesn't ship with sudo.
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RUN apt-get update && apt-get install -y sudo
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# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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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=$CARTOGRAPHER_VERSION \
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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# changed. CARTOGRAPHER_SHA ARG content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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RUN CARTOGRAPHER_SHA=$CARTOGRAPHER_SHA \
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CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh && \
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sed -i -e "s%<depend>libabsl-dev</depend>%<\!--<depend>libabsl-dev</depend>-->%g" catkin_ws/src/cartographer/package.xml
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@ -15,9 +15,7 @@
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FROM osrf/ros:noetic-desktop
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ARG CARTOGRAPHER_VERSION=master
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# We require a GitHub access token to be passed.
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ARG github_token
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ARG CARTOGRAPHER_SHA=LATEST
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# Prevent any interaction required by apt-get.
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# https://stackoverflow.com/questions/22466255
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@ -26,16 +24,15 @@ ARG DEBIAN_FRONTEND=noninteractive
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# ROS Noetic's base image doesn't ship with sudo and git.
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RUN apt-get update && apt-get install -y sudo git
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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# changed. This file's content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \
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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=$CARTOGRAPHER_VERSION \
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# First, we invalidate the entire cache if cartographer-project/cartographer has
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# changed. CARTOGRAPHER_SHA ARG content changes whenever master changes. See:
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# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone
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RUN CARTOGRAPHER_SHA=$CARTOGRAPHER_SHA \
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CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
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cartographer_ros/scripts/prepare_catkin_workspace.sh && \
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sed -i -e "s%<depend>libabsl-dev</depend>%<\!--<depend>libabsl-dev</depend>-->%g" catkin_ws/src/cartographer/package.xml
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@ -45,10 +45,10 @@ at `our Contribution page`_.
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.. _our Contribution page: https://github.com/cartographer-project/cartographer_ros/blob/master/CONTRIBUTING.md
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.. |build| image:: https://travis-ci.org/cartographer-project/cartographer_ros.svg?branch=master
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.. |build| image:: https://app.travis-ci.com/cartographer-project/cartographer_ros.svg?branch=master
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:alt: Build Status
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:scale: 100%
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:target: https://travis-ci.org/cartographer-project/cartographer_ros
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:target: https://app.travis-ci.com/cartographer-project/cartographer_ros
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.. |docs| image:: https://readthedocs.org/projects/google-cartographer-ros/badge/?version=latest
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:alt: Documentation Status
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:scale: 100%
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@ -23,7 +23,6 @@ The Cartographer ROS requirements are the same as `the ones from Cartographer`_.
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The following `ROS distributions`_ are currently supported:
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* Kinetic
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* Melodic
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* Noetic
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@ -71,8 +70,6 @@ The command 'sudo rosdep init' will print an error if you have already executed
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Only on Ubuntu 16 / ROS Kinetic: src/cartographer/scripts/install_proto3.sh
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Cartographer uses the `abseil-cpp`_ library that needs to be manually installed using this script:
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.. code-block:: bash
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@ -0,0 +1,32 @@
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#!/bin/bash
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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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# Cache intermediate Docker layers. For a description of how this works, see:
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# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
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set -o errexit
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set -o verbose
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set -o pipefail
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if [ "$#" -ne 1 ]; then
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echo "Please provide an access token to $0" 1>&2
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exit 1
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fi
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token=$1
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CARTOGRAPHER_SHA=$(curl -s -H 'Authorization: token ${token}' https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master | jq -j '.object.sha')
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docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros:${ROS_RELEASE} -f Dockerfile.${ROS_RELEASE} --build-arg CARTOGRAPHER_SHA=${CARTOGRAPHER_SHA}
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@ -34,6 +34,3 @@ cd catkin_ws
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# Install rosdep dependencies.
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Update rosconsole-bridge to fix build issue with Docker image for Kinetic
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sudo apt-get install ros-${ROS_DISTRO}-rosconsole-bridge -y
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