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# 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:indigo
ARG CARTOGRAPHER_VERSION=master
# 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/*
# Install proto3.
RUN /catkin_ws/src/cartographer/scripts/install_proto3.sh
# 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

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