Adds Docker caching to Travis build. (#137)

.travis.yml

@@ -14,5 +14,18 @@
 
 sudo: required
 services: docker
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+cache:
+  directories:
+    - /home/travis/docker/
+env:
+  global:
+    - DOCKER_CACHE_FILE=/home/travis/docker/cache.tar.gz
+before_install: scripts/load_docker_cache.sh
+
 install: true
-script: docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros
+script:
+  - docker build ${TRAVIS_BUILD_DIR} -t cartographer_ros
+  - scripts/save_docker_cache.sh

Dockerfile

@@ -13,6 +13,15 @@
 # limitations under the License.
 
 FROM ros:indigo
+# wstool needs the updated rosinstall file to clone the correct repos.
+COPY cartographer_ros.rosinstall cartographer_ros/
+# rosdep needs the updated package.xml files to install the correct debs.
+COPY cartographer_ros/package.xml cartographer_ros/cartographer_ros/
+COPY cartographer_ros_msgs/package.xml cartographer_ros/cartographer_ros_msgs/
+COPY cartographer_rviz/package.xml cartographer_ros/cartographer_rviz/
+COPY ceres_solver/package.xml cartographer_ros/ceres_solver/
+COPY scripts/install_debs.sh cartographer_ros/scripts/
+RUN cartographer_ros/scripts/install_debs.sh && rm -rf /var/lib/apt/lists/*
 COPY . cartographer_ros
-RUN cartographer_ros/scripts/install.sh
+RUN cartographer_ros/scripts/install_cartographer_ros.sh && rm -rf catkin_ws
 COPY scripts/ros_entrypoint.sh /

scripts/install.sh → scripts/install_cartographer_ros.sh

@@ -17,29 +17,14 @@
 set -o errexit
 set -o verbose
 
-# Install Ninja.
-sudo apt-get update
-sudo apt-get install -y ninja-build
-
 . /opt/ros/${ROS_DISTRO}/setup.sh
 
-# Create a new workspace in 'catkin_ws'.
-mkdir catkin_ws
 cd catkin_ws
-wstool init src
-
-# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
-wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall
-wstool update -t src
 
 # Use the local version of cartographer_ros to include local modifications.
 rm -rf src/cartographer_ros
 mv ../cartographer_ros src
 
-# Install rosdep dependencies.
-rosdep update
-rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
-
 # Build, install, and test.
 #
 # It's necessary to use the '--install' flag for every call to
@@ -50,7 +35,3 @@ rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
 export BUILD_FLAGS="--use-ninja --install-space /opt/cartographer_ros --install"
 catkin_make_isolated ${BUILD_FLAGS} --catkin-make-args run_tests
 catkin_make_isolated ${BUILD_FLAGS} --pkg cartographer --make-args test
-
-# Clean up.
-cd ..
-rm -rf catkin_ws /var/lib/apt/lists/*

scripts/install_debs.sh

@@ -0,0 +1,37 @@
+#!/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
+
+# Install Ninja.
+sudo apt-get update
+sudo apt-get install -y ninja-build
+
+. /opt/ros/${ROS_DISTRO}/setup.sh
+
+# Create a new workspace in 'catkin_ws'.
+mkdir catkin_ws
+cd catkin_ws
+wstool init src
+
+# Merge the cartographer_ros.rosinstall file and fetch code for dependencies.
+wstool merge -t src ../cartographer_ros/cartographer_ros.rosinstall
+wstool update -t src
+
+# Install rosdep dependencies.
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y

scripts/load_docker_cache.sh

@@ -0,0 +1,26 @@
+#!/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.
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+
+set -o errexit
+set -o verbose
+set -o pipefail
+
+if [ -f ${DOCKER_CACHE_FILE} ]; then
+  gunzip -c ${DOCKER_CACHE_FILE} | docker load;
+fi

scripts/save_docker_cache.sh

@@ -0,0 +1,29 @@
+#!/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.
+
+# Cache intermediate Docker layers. For a description of how this works, see:
+# https://giorgos.sealabs.net/docker-cache-on-travis-and-docker-112.html
+
+set -o errexit
+set -o verbose
+set -o pipefail
+
+if [[ ${TRAVIS_BRANCH} == "master" ]] &&
+    [[ ${TRAVIS_PULL_REQUEST} == "false" ]]; then
+  mkdir -p $(dirname ${DOCKER_CACHE_FILE});
+  docker save $(docker history -q cartographer_ros |
+      grep -v '<missing>') | gzip > ${DOCKER_CACHE_FILE};
+fi