Fix broken build for melodic. Use official ros docker image. (#1484)

Essentially revert #1021 as image seems to be fixed

Signed-off-by: Bo Chen <[email protected]>

Dockerfile.melodic

@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-FROM eu.gcr.io/cartographer-141408/cartographer_ros_melodic_base
+FROM ros:melodic
 
 ARG CARTOGRAPHER_VERSION=master
 
@@ -30,9 +30,9 @@ ADD https://api.github.com/repos/googlecartographer/cartographer/git/refs/heads/
 
 # wstool needs the updated rosinstall file to clone the correct repos.
 COPY cartographer_ros.rosinstall cartographer_ros/
-COPY scripts/update_catkin_workspace.sh cartographer_ros/scripts/
+COPY scripts/prepare_catkin_workspace.sh cartographer_ros/scripts/
 RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \
-    cartographer_ros/scripts/update_catkin_workspace.sh
+    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/
@@ -41,6 +41,9 @@ COPY cartographer_rviz/package.xml catkin_ws/src/cartographer_ros/cartographer_r
 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.