diff --git a/.travis.yml b/.travis.yml index 41286c677..8a0c764a6 100644 --- a/.travis.yml +++ b/.travis.yml @@ -22,9 +22,8 @@ cache: - /home/travis/docker/ env: - - ROS_RELEASE=kinetic DOCKER_CACHE_FILE=/home/travis/docker/kinetic-cache.tar.gz - - ROS_RELEASE=melodic DOCKER_CACHE_FILE=/home/travis/docker/melodic-cache.tar.gz - - ROS_RELEASE=noetic DOCKER_CACHE_FILE=/home/travis/docker/noetic-cache.tar.gz + - ROS_RELEASE=dashing DOCKER_CACHE_FILE=/home/travis/docker/dashing-cache.tar.gz + - ROS_RELEASE=foxy DOCKER_CACHE_FILE=/home/travis/docker/foxy-cache.tar.gz before_install: # $GITHUB_TOKEN must be a valid GitHub access token without access rights (https://github.com/settings/tokens). diff --git a/Dockerfile.dashing b/Dockerfile.dashing new file mode 100644 index 000000000..0988a9e53 --- /dev/null +++ b/Dockerfile.dashing @@ -0,0 +1,66 @@ +# Copyright 2020 The Cartographer Authors +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +FROM osrf/ros:dashing-desktop + +ARG CARTOGRAPHER_VERSION=master + +# We require a GitHub access token to be passed. +ARG github_token + +# The base image doesn't ship with sudo and wstool. +RUN apt-get update && apt-get install -y sudo python3-wstool + +# First, we invalidate the entire cache if cartographer-project/cartographer has +# changed. This file's content changes whenever master changes. See: +# http://stackoverflow.com/questions/36996046/how-to-prevent-dockerfile-caching-git-clone +ADD https://api.github.com/repos/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \ + 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_dev_workspace.sh cartographer_ros/scripts/ +RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \ + cartographer_ros/scripts/prepare_dev_workspace.sh + +# rosdep needs the updated package.xml files to install the correct debs. +COPY cartographer_ros/package.xml dev_ws/src/cartographer_ros/cartographer_ros/ +COPY cartographer_ros_msgs/package.xml dev_ws/src/cartographer_ros/cartographer_ros_msgs/ +COPY cartographer_rviz/package.xml dev_ws/src/cartographer_ros/cartographer_rviz/ +COPY scripts/install_debs.sh cartographer_ros/scripts/ +RUN cartographer_ros/scripts/install_debs.sh + +# Install Abseil. +RUN /dev_ws/src/cartographer/scripts/install_abseil.sh + +# Build, install, and test all packages individually to allow caching. The +# ordering of these steps must match the topological package ordering. +COPY scripts/install_and_test.sh cartographer_ros/scripts/ + +RUN cartographer_ros/scripts/install_and_test.sh cartographer + +# TODO(MichaelGrupp): Activate all build steps for ROS2 once they work. +# COPY cartographer_ros_msgs dev_ws/src/cartographer_ros/cartographer_ros_msgs +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_ros_msgs + +# COPY cartographer_ros dev_ws/src/cartographer_ros/cartographer_ros +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_ros + +# COPY cartographer_rviz dev_ws/src/cartographer_ros/cartographer_rviz +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_rviz + +RUN rm -rf /var/lib/apt/lists/* +# 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 || true diff --git a/Dockerfile.foxy b/Dockerfile.foxy new file mode 100644 index 000000000..65ba29980 --- /dev/null +++ b/Dockerfile.foxy @@ -0,0 +1,66 @@ +# Copyright 2020 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 osrf/ros:foxy-desktop + +ARG CARTOGRAPHER_VERSION=master + +# We require a GitHub access token to be passed. +ARG github_token + +# The base image doesn't ship with sudo and wstool. +RUN apt-get update && apt-get install -y sudo python3-wstool + +# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \ + 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_dev_workspace.sh cartographer_ros/scripts/ +RUN CARTOGRAPHER_VERSION=$CARTOGRAPHER_VERSION \ + cartographer_ros/scripts/prepare_dev_workspace.sh + +# rosdep needs the updated package.xml files to install the correct debs. +COPY cartographer_ros/package.xml dev_ws/src/cartographer_ros/cartographer_ros/ +COPY cartographer_ros_msgs/package.xml dev_ws/src/cartographer_ros/cartographer_ros_msgs/ +COPY cartographer_rviz/package.xml dev_ws/src/cartographer_ros/cartographer_rviz/ +COPY scripts/install_debs.sh cartographer_ros/scripts/ +RUN cartographer_ros/scripts/install_debs.sh + +# Install Abseil. +RUN /dev_ws/src/cartographer/scripts/install_abseil.sh + +# Build, install, and test all packages individually to allow caching. The +# ordering of these steps must match the topological package ordering. +COPY scripts/install_and_test.sh cartographer_ros/scripts/ + +RUN cartographer_ros/scripts/install_and_test.sh cartographer + +# TODO(MichaelGrupp): Activate all build steps for ROS2 once they work. +# COPY cartographer_ros_msgs dev_ws/src/cartographer_ros/cartographer_ros_msgs +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_ros_msgs + +# COPY cartographer_ros dev_ws/src/cartographer_ros/cartographer_ros +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_ros + +# COPY cartographer_rviz dev_ws/src/cartographer_ros/cartographer_rviz +# RUN cartographer_ros/scripts/install_and_test.sh cartographer_rviz + +RUN rm -rf /var/lib/apt/lists/* +# 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 || true diff --git a/Dockerfile.kinetic b/Dockerfile.kinetic deleted file mode 100644 index 7e2bb8d5f..000000000 --- a/Dockerfile.kinetic +++ /dev/null @@ -1,80 +0,0 @@ -# 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 osrf/ros:kinetic-desktop - -ARG CARTOGRAPHER_VERSION=master - -# We require a GitHub access token to be passed. -ARG github_token - -# Xenial's base image doesn't ship with sudo. -RUN apt-get update && apt-get install -y sudo - -# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \ - 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 - -# Install Abseil and proto3. -RUN /catkin_ws/src/cartographer/scripts/install_abseil.sh -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/ - -RUN cartographer_ros/scripts/install.sh --pkg cartographer && \ - cartographer_ros/scripts/install.sh --pkg cartographer --make-args test - -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 - -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 / - -RUN rm -rf /var/lib/apt/lists/* -# 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 diff --git a/Dockerfile.melodic b/Dockerfile.melodic deleted file mode 100644 index 35e8399be..000000000 --- a/Dockerfile.melodic +++ /dev/null @@ -1,79 +0,0 @@ -# Copyright 2018 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 osrf/ros:melodic-desktop - -ARG CARTOGRAPHER_VERSION=master - -# We require a GitHub access token to be passed. -ARG github_token - -# Bionic's base image doesn't ship with sudo. -RUN apt-get update && apt-get install -y sudo - -# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \ - 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 - -# Install Abseil. -RUN /catkin_ws/src/cartographer/scripts/install_abseil.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/ - -RUN cartographer_ros/scripts/install.sh --pkg cartographer && \ - cartographer_ros/scripts/install.sh --pkg cartographer --make-args test - -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 - -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 / - -RUN rm -rf /var/lib/apt/lists/* -# 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 diff --git a/Dockerfile.noetic b/Dockerfile.noetic deleted file mode 100644 index 7168d10e6..000000000 --- a/Dockerfile.noetic +++ /dev/null @@ -1,83 +0,0 @@ -# Copyright 2020 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 osrf/ros:noetic-desktop - -ARG CARTOGRAPHER_VERSION=master - -# We require a GitHub access token to be passed. -ARG github_token - -# Prevent any interaction required by apt-get. -# https://stackoverflow.com/questions/22466255 -ARG DEBIAN_FRONTEND=noninteractive - -# ROS Noetic's base image doesn't ship with sudo and git. -RUN apt-get update && apt-get install -y sudo git - -# First, we invalidate the entire cache if cartographer-project/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/cartographer-project/cartographer/git/refs/heads/master?access_token=$github_token \ - 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 - -# Install Abseil. -RUN /catkin_ws/src/cartographer/scripts/install_abseil.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/ - -RUN cartographer_ros/scripts/install.sh --pkg cartographer && \ - cartographer_ros/scripts/install.sh --pkg cartographer --make-args test - -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 - -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 / - -RUN rm -rf /var/lib/apt/lists/* -# 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 diff --git a/scripts/install.sh b/scripts/install.sh deleted file mode 100755 index 3c34abfed..000000000 --- a/scripts/install.sh +++ /dev/null @@ -1,32 +0,0 @@ -#!/bin/bash - -# 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. - -set -o errexit -set -o verbose - -. /opt/ros/${ROS_DISTRO}/setup.sh - -cd catkin_ws - -# Build, install, and test. -# -# It's necessary to use the '--install' flag for every call to -# 'catkin_make_isolated' in order to avoid the use of 'devel_isolated' as the -# 'CMAKE_INSTALL_PREFIX' for non-test targets. This in itself is important to -# avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the -# configuration phase of the build (e.g. cartographer/common/config.h.cmake). -export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install" -catkin_make_isolated ${BUILD_FLAGS} $@ diff --git a/scripts/catkin_test_results.sh b/scripts/install_and_test.sh similarity index 68% rename from scripts/catkin_test_results.sh rename to scripts/install_and_test.sh index 5c7b3eaa5..d2ec63c16 100755 --- a/scripts/catkin_test_results.sh +++ b/scripts/install_and_test.sh @@ -19,5 +19,9 @@ set -o verbose . /opt/ros/${ROS_DISTRO}/setup.sh -cd catkin_ws -catkin_test_results $@ +cd dev_ws + +# Build, install, and test a single package provided as argument to this script. +export COLCON_FLAGS="--install-base /opt/cartographer_ros --event-handlers console_direct+" +colcon build ${COLCON_FLAGS} --packages-select $@ +colcon test ${COLCON_FLAGS} --return-code-on-test-failure --packages-select $@ diff --git a/scripts/install_debs.sh b/scripts/install_debs.sh index 0af46489a..106b0be26 100755 --- a/scripts/install_debs.sh +++ b/scripts/install_debs.sh @@ -29,11 +29,11 @@ fi . /opt/ros/${ROS_DISTRO}/setup.sh -cd catkin_ws +cd dev_ws # Install rosdep dependencies. rosdep update -rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y - -# Update rosconsole-bridge to fix build issue with Docker image for Kinetic -sudo apt-get install ros-${ROS_DISTRO}-rosconsole-bridge -y +# TODO(MichaelGrupp): explicitly declare paths during the ROS2 migration. +# Once everything in src works, switch back to "--from-paths src". +WORKING_PATHS="src/cartographer" +rosdep install --from-paths ${WORKING_PATHS} --ignore-src --rosdistro=${ROS_DISTRO} -y diff --git a/scripts/prepare_catkin_workspace.sh b/scripts/prepare_dev_workspace.sh similarity index 93% rename from scripts/prepare_catkin_workspace.sh rename to scripts/prepare_dev_workspace.sh index 77b870ee5..ee5757093 100755 --- a/scripts/prepare_catkin_workspace.sh +++ b/scripts/prepare_dev_workspace.sh @@ -19,9 +19,9 @@ set -o verbose . /opt/ros/${ROS_DISTRO}/setup.sh -# Create a new workspace in 'catkin_ws'. -mkdir -p catkin_ws/src -cd catkin_ws/src +# Create a new workspace in 'dev_ws'. +mkdir -p dev_ws/src +cd dev_ws/src wstool init # Merge the cartographer_ros.rosinstall file and fetch code for dependencies. diff --git a/scripts/prepare_jenkins_catkin_workspace.sh b/scripts/prepare_jenkins_catkin_workspace.sh deleted file mode 100755 index 9c9654210..000000000 --- a/scripts/prepare_jenkins_catkin_workspace.sh +++ /dev/null @@ -1,33 +0,0 @@ -#!/bin/sh - -# Copyright 2016 The Cartographer Authors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -set -o errexit -set -o verbose - -. /opt/ros/${ROS_DISTRO}/setup.sh - -# Create a new workspace in 'catkin_ws'. -mkdir -p catkin_ws/src -cd catkin_ws/src -wstool init - -# Merge the cartographer_ros.rosinstall file and fetch code for dependencies. -wstool merge ../../cartographer_ros/cartographer_ros.rosinstall -wstool merge -y https://raw.githubusercontent.com/cartographer-project/cartographer_fetch/master/cartographer_fetch.rosinstall -wstool merge -y https://raw.githubusercontent.com/magazino/cartographer_magazino/master/cartographer_magazino.rosinstall -wstool set cartographer -v ${CARTOGRAPHER_VERSION} -y -wstool remove cartographer_ros -wstool update