[fix melodic] Remove PCL from the DEPENDS export

.gitlab-ci.yml

@@ -1,7 +1,7 @@
 stages:
   - build
   - deploy
-  
+
 variables:
   ROS_CI_DESKTOP: "`lsb_release -cs`"
   CI_SOURCE_PATH: $CI_PROJECT_DIR
@@ -13,6 +13,9 @@ variables:
 .build: &build_common
   before_script:
     - apt-get update
+    # Use UTC for tzdata
+    - DEBIAN_FRONTEND=noninteractive apt-get install -y tzdata
+    - apt-get install -y gnupg2
     - apt-get install -y lsb-release
     - apt-get install -y gcc g++
     - sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
@@ -31,8 +34,47 @@ variables:
     - test -f "${ROSINSTALL_FILE}" && wstool merge "${ROSINSTALL_FILE}"
     - wstool up
     - cd ..
-    - rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} 
-
+    - rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}
+
+.build_cross: &build_cross
+  stage: build
+  image: docker
+  services:
+    - docker:dind
+  variables:
+    ROS_DISTRO: kinetic
+    AUTOWARE_DOCKER_DATE: 20190306
+    AUTOWARE_HOME: $CI_PROJECT_DIR
+    AUTOWARE_TARGET_ARCH: aarch64
+    AUTOWARE_TARGET_PLATFORM: generic-aarch64
+    AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/ros/build-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/ros/install-${AUTOWARE_TARGET_PLATFORM}
+    AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/ros/cross_toolchain.cmake
+    AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM}
+  script:
+    # - ${AUTOWARE_HOME}/docker/crossbuild/build_cross_image.sh
+    - 'docker run
+          -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
+          --rm
+          -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
+          -w ${AUTOWARE_HOME}/ros
+          autoware/build:${AUTOWARE_TARGET_PLATFORM}-${ROS_DISTRO}-${AUTOWARE_DOCKER_DATE}
+          bash
+            -c "
+                source ${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO}/setup.bash &&
+                colcon build
+                    --merge-install
+                    --build-base ${AUTOWARE_BUILD_PATH}
+                    --install-base ${AUTOWARE_INSTALL_PATH}
+                    --cmake-args
+                    -DPYTHON_EXECUTABLE=/usr/bin/python3
+                    -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
+                    -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
+                    -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/${ROS_DISTRO};${AUTOWARE_INSTALL_PATH}\"
+                    -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH}
+                  "
+                  '
+  retry: 1
 
 build_kinetic:
   stage: build
@@ -47,18 +89,18 @@ build_kinetic:
     - git clone https://github.com/linux-test-project/lcov.git
     - cd lcov
     - git checkout v1.13
-    - make install 
+    - make install
     - cd ..
     - rm -r lcov
   # We first build the entire workspace normally
-    - colcon build --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
+    - colcon build --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 -DPYTHON_EXECUTABLE=/usr/bin/python3
   # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
   # which is not the standard target for CMake projects. We need to trigger the tests target so that
   # tests are built and any fixtures are set up.
-    - colcon build --cmake-target tests --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
+    - colcon build --cmake-target tests --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 -DPYTHON_EXECUTABLE=/usr/bin/python3
     - lcov --initial --directory build --capture --output-file lcov.base
     - colcon test
-    - colcon test-result
+    - colcon test-result --verbose
     - 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
@@ -69,58 +111,68 @@ build_kinetic:
     - 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 
+    - 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_cross:
+
+build_melodic:
   stage: build
-  image: docker
-  services:
-    - docker:dind
+  image: ubuntu:bionic
   variables:
-    ROS_DISTRO: kinetic
-    AUTOWARE_DOCKER_DATE: 20190211
-    AUTOWARE_HOME: $CI_PROJECT_DIR
-    AUTOWARE_TARGET_ARCH: aarch64
-    AUTOWARE_TARGET_PLATFORM: generic-aarch64
-    AUTOWARE_BUILD_PATH: $CI_PROJECT_DIR/ros/build-${AUTOWARE_TARGET_PLATFORM}
-    AUTOWARE_INSTALL_PATH: $CI_PROJECT_DIR/ros/install-${AUTOWARE_TARGET_PLATFORM}
-    AUTOWARE_TOOLCHAIN_FILE_PATH: $CI_PROJECT_DIR/ros/cross_toolchain.cmake
-    AUTOWARE_SYSROOT: /sysroot/${AUTOWARE_TARGET_PLATFORM}
+    ROS_DISTRO: melodic
+  <<: *build_common
   script:
-    # - ${AUTOWARE_HOME}/docker/crossbuild/build_cross_image.sh
-    - 'docker run
-          -e AUTOWARE_SYSROOT=${AUTOWARE_SYSROOT}
-          --rm
-          -v ${AUTOWARE_HOME}:${AUTOWARE_HOME}
-          -w ${AUTOWARE_HOME}/ros
-          autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-${AUTOWARE_DOCKER_DATE}
-          bash
-            -c "
-                source ${AUTOWARE_SYSROOT}/opt/ros/kinetic/setup.bash &&
-                colcon build
-                    --merge-install
-                    --build-base ${AUTOWARE_BUILD_PATH}
-                    --install-base ${AUTOWARE_INSTALL_PATH}
-                    --cmake-args
-                    -DCMAKE_TOOLCHAIN_FILE=${AUTOWARE_TOOLCHAIN_FILE_PATH}
-                    -DCMAKE_SYSTEM_PROCESSOR=${AUTOWARE_TARGET_ARCH}
-                    -DCMAKE_PREFIX_PATH=\"${AUTOWARE_SYSROOT}/opt/ros/kinetic;${AUTOWARE_INSTALL_PATH}\"
-                    -DCMAKE_FIND_ROOT_PATH=${AUTOWARE_INSTALL_PATH}
-                  "
-                  '
+  # colcon as a Debian package is only available in Kinetic and up
+    - apt-get install -y python3-colcon-common-extensions
+  # Install lcov ffrom the Ubuntu package. We need 1.13 at least.
+    - apt-get install -y lcov
+  # We first build the entire workspace normally
+    - colcon build --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 -DPYTHON_EXECUTABLE=/usr/bin/python3
+  # And then build the tests target. catkin (ROS1) packages add their tests to the tests target
+  # which is not the standard target for CMake projects. We need to trigger the tests target so that
+  # tests are built and any fixtures are set up.
+    - colcon build --cmake-target tests --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 -DPYTHON_EXECUTABLE=/usr/bin/python3
+    - lcov --initial --directory build --capture --output-file lcov.base
+    - colcon test
+    - colcon test-result --verbose
+    - 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
+    # 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_kinetic_cross:
+  variables:
+      ROS_DISTRO: kinetic
+  <<: *build_cross
+
+build_melodic_cross:
+  variables:
+      ROS_DISTRO: melodic
+  <<: *build_cross
 
 pages:
   stage: deploy
   image: alpine
   dependencies:
     - build_kinetic
+    - build_melodic
   script:
     - BRANCH_NAME="$(echo $CI_COMMIT_REF_NAME | sed 's/\//_/g')"
     - COVERAGE_FOLDER_NAME="coverage_$BRANCH_NAME"
@@ -132,4 +184,3 @@ pages:
   only:
     - master
     - develop
-

docker/crossbuild/Dockerfile.kinetic-crossbuild

@@ -18,7 +18,10 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Autoware dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    cython \
     freeglut3-dev \
+    gstreamer1.0-plugins-good \
     libarmadillo-dev \
     libcurl4-openssl-dev \
     libeigen3-dev \
@@ -27,6 +30,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libglew-dev \
     libglu1-mesa-dev \
     libgoogle-glog-dev \
+    libgstreamer-plugins-good1.0-0 \
     libgtest-dev \
     libnlopt-dev \
     libopencv-dev \
@@ -46,28 +50,39 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     libxmu-dev \
     libyaml-cpp-dev \
     python-flask \
+    python-scipy \
     python-serial \
+    python-skimage \
     qtbase5-dev \
     ros-kinetic-angles \
     ros-kinetic-automotive-platform-msgs \
     ros-kinetic-camera-info-manager \
     ros-kinetic-catkin \
     ros-kinetic-cmake-modules \
     ros-kinetic-cv-bridge \
+    ros-kinetic-diagnostic-aggregator \
     ros-kinetic-diagnostic-msgs \
     ros-kinetic-diagnostic-updater \
     ros-kinetic-dynamic-reconfigure \
+    ros-kinetic-eigen-conversions \
+    ros-kinetic-filters \
     ros-kinetic-geometry-msgs \
     ros-kinetic-gps-common \
     ros-kinetic-grid-map-cv \
     ros-kinetic-grid-map-msgs \
     ros-kinetic-grid-map-ros \
+    ros-kinetic-gscam \
     ros-kinetic-image-geometry \
     ros-kinetic-image-transport \
     ros-kinetic-imu-filter-madgwick \
     ros-kinetic-imu-tools \
+    ros-kinetic-jsk-footstep-msgs \
+    ros-kinetic-jsk-gui-msgs \
+    ros-kinetic-jsk-hark-msgs \
     ros-kinetic-jsk-recognition-msgs \
     ros-kinetic-jsk-rviz-plugins \
+    ros-kinetic-jsk-tools \
+    ros-kinetic-jsk-topic-tools \
     ros-kinetic-message-filters \
     ros-kinetic-message-generation \
     ros-kinetic-message-runtime \
@@ -78,7 +93,11 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-pcl-conversions \
     ros-kinetic-pcl-msgs \
     ros-kinetic-pcl-ros \
+    ros-kinetic-people-msgs \
     ros-kinetic-pluginlib \
+    ros-kinetic-posedetection-msgs \
+    ros-kinetic-robot-state-publisher \
+    ros-kinetic-rosbridge-server \
     ros-kinetic-rosconsole \
     ros-kinetic-roscpp \
     ros-kinetic-roslaunch \
@@ -96,8 +115,12 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-std-srvs \
     ros-kinetic-stereo-msgs \
     ros-kinetic-tf \
+    ros-kinetic-tf-conversions \
     ros-kinetic-tf2 \
+    ros-kinetic-tf2-geometry-msgs \
     ros-kinetic-tf2-ros \
+    ros-kinetic-urdfdom-py \
+    ros-kinetic-view-controller-msgs \
     ros-kinetic-visualization-msgs \
     ros-kinetic-xacro \
     ros-kinetic-rosbridge-server \
@@ -112,7 +135,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     ros-kinetic-effort-controllers \ 
     ros-kinetic-controller-manager \
     ros-kinetic-robot-state-publisher \
-    ros-kinetic-joint-state-controller
+    ros-kinetic-joint-state-controller \
+    v4l-utils
 
 RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \;
 
@@ -129,6 +153,7 @@ COPY --from=sysroot /etc/alternatives ${AUTOWARE_SYSROOT}/etc/alternatives
 RUN echo "deb http://packages.ros.org/ros/ubuntu xenial main" | tee /etc/apt/sources.list.d/ros-latest.list
 RUN apt-key adv --keyserver hkp://p80.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 RUN apt-get update && apt-get install -y --no-install-recommends \
+    cython \
     crossbuild-essential-arm64 \
     pkg-config \
     python-rospkg \
@@ -153,6 +178,9 @@ RUN sed -i -e "s#set(imported_location \"\${_qt5Core_install_prefix}/lib/${AUTOW
 RUN sed -i -e "s#define ARMA_SUPERLU_INCLUDE_DIR /usr/include/superlu/#define ARMA_SUPERLU_INCLUDE_DIR ${AUTOWARE_SYSROOT}/usr/include/superlu/#g" \
     ${AUTOWARE_SYSROOT}/usr/include/armadillo_bits/config.hpp
 
+RUN apt-get install -y python-numpy
+RUN apt-get install -y python-pip python-setuptools
+RUN pip install -U setuptools
 RUN apt-get install -y python3-pip python3-setuptools
 RUN pip3 install -U setuptools
 RUN apt-get install -y python3-colcon-common-extensions

docker/crossbuild/Dockerfile.kinetic-crossbuild-driveworks

@@ -1,7 +1,7 @@
 ARG AUTOWARE_DOCKER_ARCH
 ARG AUTOWARE_TARGET_ARCH
 ARG AUTOWARE_TARGET_PLATFORM
-FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190102
+FROM autoware/build:${AUTOWARE_TARGET_PLATFORM}-kinetic-20190306
 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