57 lines
1.9 KiB
Bash
Executable File
57 lines
1.9 KiB
Bash
Executable File
#!/bin/sh
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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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set -o errexit
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set -o verbose
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# Install Ninja.
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sudo apt-get update
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sudo apt-get install -y ninja-build
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. /opt/ros/${ROS_DISTRO}/setup.sh
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# Create a new workspace in 'catkin_ws'.
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mkdir catkin_ws
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cd catkin_ws
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wstool init src
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# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
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wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall
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wstool update -t src
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# Use the local version of cartographer_ros to include local modifications.
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rm -rf src/cartographer_ros
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mv ../cartographer_ros src
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# Install rosdep dependencies.
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rosdep update
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rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
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# Build, install, and test.
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#
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# It's necessary to use the '--install' flag for every call to
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# 'catkin_make_isolated' in order to avoid the use of 'devel_isolated' as the
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# 'CMAKE_INSTALL_PREFIX' for non-test targets. This in itself is important to
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# avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the
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# configuration phase of the build (e.g. cartographer/common/config.h.cmake).
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export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install"
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catkin_make_isolated ${BUILD_FLAGS} --catkin-make-args run_tests
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catkin_make_isolated ${BUILD_FLAGS} --pkg cartographer --make-args test
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# Clean up.
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cd ..
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rm -rf catkin_ws /var/lib/apt/lists/*
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