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Merge branch 'develop' of https://github.com/CPFL/Autoware into featu…
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…re/fix_pcd_filter
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mitsudome-r committed Dec 17, 2018
2 parents 1c0f579 + b05aaa9 commit 1fe31e3
Showing 154 changed files with 12,238 additions and 8,114 deletions.
37 changes: 19 additions & 18 deletions .gitlab-ci.yml
Original file line number Diff line number Diff line change
@@ -54,36 +54,29 @@ build_kinetic:
- lcov --directory build --capture --output-file lcov.test
- lcov -a lcov.base -a lcov.test -o lcov.total
- lcov -r lcov.total '*/tests/*' '*/test/*' '*/build/*' '*/devel/*' '/usr/*' '/opt/*' '*/CMakeCCompilerId.c' '*/CMakeCXXCompilerId.cpp' -o lcov.total.filtered
- genhtml -p "$PWD" --legend --demangle-cpp lcov.total.filtered -o coverage
- tar -czvf coverage.tar.gz coverage
# BRANCH_NAME: gets branch name from CI_COMMIT_REF_NAME variable substituting / with _ (feature/test_this_lib becomes feature_test_this_lib)
# CI_COMMIT_REF_NAME: (from https://docs.gitlab.com/ee/ci/variables/) The branch or tag name for which project is built
- BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
- COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
- genhtml -p "$PWD" --legend --demangle-cpp lcov.total.filtered -o $COVERAGE_FOLDER_NAME
- tar -czvf coverage.tar.gz $COVERAGE_FOLDER_NAME
- mv coverage.tar.gz $CI_PROJECT_DIR/coverage.tar.gz
- ls $CI_PROJECT_DIR
retry: 1
artifacts:
paths:
- $CI_PROJECT_DIR/coverage.tar.gz
expire_in: 48 hrs
coverage: /\s*lines.*:\s(\d+\.\d+\%\s\(\d+\sof\s\d+.*\))/



build_indigo:
stage: build
image: ubuntu:trusty
variables:
ROS_DISTRO: indigo
<<: *build_common
script:
- catkin_make clean
- catkin_make -j2 --cmake-args -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_C_FLAGS="${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage" -DCMAKE_BUILD_TYPE=Debug
- catkin_make run_tests
- catkin_test_results

build_cross:
stage: build
image: docker
services:
- docker:dind
variables:
ROS_DISTRO: kinetic
AUTOWARE_DOCKER_DATE: 20181123
AUTOWARE_HOME: $CI_PROJECT_DIR
AUTOWARE_TARGET_ARCH: aarch64
AUTOWARE_TARGET_PLATFORM: generic-aarch64
@@ -97,7 +90,7 @@ build_cross:
--rm
-v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
-w ${AUTOWARE_HOME}/ros
autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809
autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE}
bash
-c "source /opt/ros/kinetic/setup.bash &&
catkin_make
@@ -114,15 +107,23 @@ build_cross:
--build ${AUTOWARE_BUILD_PATH}
-j2"
'
retry: 1

pages:
stage: deploy
image: alpine
dependencies:
- build_kinetic
script:
- BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
- COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
- tar -xzvf coverage.tar.gz
- mv coverage public
- mv $COVERAGE_FOLDER_NAME public
artifacts:
paths:
- public
only:
- master
- develop


4 changes: 4 additions & 0 deletions .gitmodules
Original file line number Diff line number Diff line change
@@ -1,3 +1,7 @@
[submodule "ros/src/sensing/drivers/lidar/packages/robosense"]
path = ros/src/sensing/drivers/lidar/packages/robosense
url = https://github.com/CPFL/robosense
[submodule "ros/src/sensing/drivers/lidar/packages/ouster"]
path = ros/src/sensing/drivers/lidar/packages/ouster
url = https://github.com/CPFL/ouster
branch = autoware_branch
2 changes: 1 addition & 1 deletion .travis.yml
Original file line number Diff line number Diff line change
@@ -78,7 +78,7 @@ script:
--rm
-v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
-w ${AUTOWARE_HOME}/ros
autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809
autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181123
bash
-c "source /opt/ros/kinetic/setup.bash &&
catkin_make
1 change: 1 addition & 0 deletions docker/crossbuild/Dockerfile.kinetic-crossbuild
Original file line number Diff line number Diff line change
@@ -49,6 +49,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
python-serial \
qtbase5-dev \
ros-kinetic-angles \
ros-kinetic-automotive-platform-msgs \
ros-kinetic-camera-info-manager \
ros-kinetic-catkin \
ros-kinetic-cmake-modules \
2 changes: 1 addition & 1 deletion docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks
Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
ARG AUTOWARE_DOCKER_ARCH
ARG AUTOWARE_TARGET_ARCH
ARG AUTOWARE_TARGET_PLATFORM
FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809
FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20181123
RUN apt-get update && apt-get install -y --no-install-recommends \
build-essential
COPY files/FindCUDA.cmake /usr/share/cmake-3.5/Modules/FindCUDA.cmake
5 changes: 3 additions & 2 deletions docker/crossbuild/build_cross_image.sh
Original file line number Diff line number Diff line change
@@ -5,6 +5,7 @@ if [ "$1" = "synquacer" ] || [ "$1" = "driveworks" ] || [ "$1" = "generic-aarch6
then
# Once we support for targets, change this to the appropriate Docker image
AUTOWARE_DOCKER_ARCH=arm64v8
AUTOWARE_DOCKER_DATE=20181123
AUTOWARE_TARGET_ARCH=aarch64
AUTOWARE_TARGET_PLATFORM=$1

@@ -17,15 +18,15 @@ then
--build-arg AUTOWARE_DOCKER_ARCH=${AUTOWARE_DOCKER_ARCH} \
--build-arg AUTOWARE_TARGET_ARCH=${AUTOWARE_TARGET_ARCH} \
--build-arg AUTOWARE_TARGET_PLATFORM=${AUTOWARE_TARGET_PLATFORM} \
-t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809 \
-t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \
-f Dockerfile.kinetic-crossbuild .
if [ "$AUTOWARE_TARGET_PLATFORM" = "driveworks" ]
then
docker image build \
--build-arg AUTOWARE_DOCKER_ARCH=${AUTOWARE_DOCKER_ARCH} \
--build-arg AUTOWARE_TARGET_ARCH=${AUTOWARE_TARGET_ARCH} \
--build-arg AUTOWARE_TARGET_PLATFORM=${AUTOWARE_TARGET_PLATFORM} \
-t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20180809 \
-t autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE} \
-f Dockerfile.kinetic-crossbuild-driveworks .
fi

111 changes: 0 additions & 111 deletions docker/generic/Dockerfile.indigo

This file was deleted.

74 changes: 61 additions & 13 deletions docker/generic/Dockerfile.kinetic
Original file line number Diff line number Diff line change
@@ -3,22 +3,41 @@ MAINTAINER Yuki Iida <[email protected]>

# Develop
RUN apt-get update && apt-get install -y \
software-properties-common \
wget curl git cmake cmake-curses-gui \
cmake \
cmake-curses-gui \
curl \
git \
libboost-all-dev \
libeigen3-dev \
libflann-dev \
libgsl0-dev \
libgoogle-perftools-dev \
libeigen3-dev
libgsl0-dev \
software-properties-common \
wget

# Intall some basic GUI and sound libs
RUN apt-get update && apt-get install -y \
xz-utils file locales dbus-x11 pulseaudio dmz-cursor-theme \
fonts-dejavu fonts-liberation hicolor-icon-theme \
libcanberra-gtk3-0 libcanberra-gtk-module libcanberra-gtk3-module \
libasound2 libgtk2.0-0 libdbus-glib-1-2 libxt6 libexif12 \
libgl1-mesa-glx libgl1-mesa-dri language-pack-en \
&& update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
dbus-x11 \
dmz-cursor-theme \
file \
fonts-dejavu \
fonts-liberation \
hicolor-icon-theme \
language-pack-en \
libasound2 \
libcanberra-gtk-module \
libcanberra-gtk3-0 \
libcanberra-gtk3-module \
libdbus-glib-1-2 \
libexif12 \
libgl1-mesa-dri \
libgl1-mesa-glx \
libgtk2.0-0 \
libxt6 \
locales \
pulseaudio \
xz-utils
RUN update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX

# Intall some basic GUI tools
RUN apt-get update && apt-get install -y \
@@ -28,9 +47,38 @@ RUN apt-get update && apt-get install -y \
# Intall ROS
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
RUN apt-get update && apt-get install -y ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
RUN apt-get update && apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests
RUN apt-get update && apt-get install -y \
ros-kinetic-desktop-full \
ros-kinetic-gps-common \
ros-kinetic-grid-map \
ros-kinetic-jsk-visualization \
ros-kinetic-nmea-msgs \
ros-kinetic-nmea-navsat-driver \
ros-kinetic-sound-play
RUN apt-get update && apt-get install -y \
ros-kinetic-automotive-platform-msgs \
ros-kinetic-controller-manager \
ros-kinetic-gazebo-ros-control \
ros-kinetic-joystick-drivers \
ros-kinetic-ros-control \
ros-kinetic-ros-controllers
RUN apt-get update && apt-get install -y \
freeglut3-dev \
gksu \
libarmadillo-dev \
libgl1-mesa-dev \
libglew-dev \
libmosquitto-dev \
libnlopt-dev \
libpcap-dev \
libqt5opengl5-dev \
libssh2-1-dev \
libyaml-cpp-dev \
python-flask \
python-requests \
python-wxgtk3.0 \
qtbase5-dev \
software-properties-common

# Add basic user
ENV USERNAME autoware
5 changes: 0 additions & 5 deletions docker/generic/README.md
Original file line number Diff line number Diff line change
@@ -10,17 +10,12 @@ To use the Autoware Docker, first make sure the NVIDIA drivers, Docker and nvidi
```
$ cd Autoware/docker/generic/
# Ubuntu 14.04 (Indigo) ** Deprecated, use Kinetic instead **
$ sh build.sh indigo
# Ubuntu 16.04 (Kinetic)
$ sh build.sh kinetic
```

## How to Run
```
# Ubuntu 14.04 (Indigo) ** Deprecated, use Kinetic instead **
$ ./run.sh -t latest-indigo
# Ubuntu 16.04 (Kinetic)
$ ./run.sh -t latest-kinetic
8 changes: 2 additions & 6 deletions docker/generic/build.sh
Original file line number Diff line number Diff line change
@@ -4,11 +4,7 @@
if [ "$1" = "kinetic" ]
then
echo "Use $1"
nvidia-docker build -t autoware-$1 -f Dockerfile.$1 ./../.. --no-cache
elif [ "$1" = "indigo" ]
then
echo "Indigo is deprecated and will be removed in a future release, please use Kinetic instead"
nvidia-docker build -t autoware-$1 -f Dockerfile.$1 ./../.. --no-cache
docker build -t autoware-$1 -f Dockerfile.$1 ./../.. --no-cache
else
echo "Select distribution, kinetic|indigo"
echo "Select distribution, kinetic"
fi
5 changes: 0 additions & 5 deletions docker/generic/run.sh
Original file line number Diff line number Diff line change
@@ -36,11 +36,6 @@ while getopts ":ht:r:s:" opt; do
esac
done

if [[ "${TAG}" == *"indigo" ]] ; then
echo "Indigo is deprecated and will be removed in a future release, please use Kinetic instead"
sleep 2
fi

echo "Using $DOCKER_HUB_REPO:$TAG"
echo "Shared directory: ${HOST_DIR}"

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