44 lines
1.9 KiB
Docker
44 lines
1.9 KiB
Docker
# Copyright 2018 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:melodic
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ARG CARTOGRAPHER_VERSION=master
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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 && 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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# Install proto3.
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RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
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