Set up an initial CI with colcon on ROS2 Dashing & Foxy.

.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).

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

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