Use installed Abseil. (cartographer-project#1570)

Author: pifon2a

CMakeLists.txt

@@ -29,7 +29,7 @@ include("${PROJECT_SOURCE_DIR}/cmake/functions.cmake")
 google_initialize_cartographer_project()
 google_enable_testing()
 
-find_package(Abseil REQUIRED)
+find_package(absl REQUIRED)
 set(BOOST_COMPONENTS iostreams)
 if(WIN32)
   list(APPEND BOOST_COMPONENTS zlib)
@@ -268,7 +268,20 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC
   ${PROTOBUF_INCLUDE_DIR})
 # TODO(hrapp): This should not explicitly list pthread and use
 # PROTOBUF_LIBRARIES, but that failed on first try.
-target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} standalone_absl)
+target_link_libraries(${PROJECT_NAME} PUBLIC ${PROTOBUF_LIBRARY} 
+  absl::algorithm
+  absl::base
+  absl::debugging
+  absl::flat_hash_map
+  absl::memory
+  absl::meta
+  absl::numeric
+  absl::str_format
+  absl::strings
+  absl::synchronization
+  absl::time
+  absl::utility 
+)
 if (NOT WIN32)
   target_link_libraries(${PROJECT_NAME} PUBLIC pthread)
 endif()

Dockerfile.bionic

@@ -28,6 +28,8 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_proto3.sh cartographer/scripts/
 RUN cartographer/scripts/install_proto3.sh && rm -rf protobuf
 COPY scripts/install_grpc.sh cartographer/scripts/

Dockerfile.focal

@@ -28,5 +28,7 @@ RUN apt-get update && apt-get install -y sudo apt-utils tzdata && rm -rf /var/li
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY . cartographer
 RUN cartographer/scripts/install_cartographer_cmake.sh && rm -rf cartographer

Dockerfile.jessie

@@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_ceres.sh cartographer/scripts/
 RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
 COPY scripts/install_proto3.sh cartographer/scripts/

Dockerfile.stretch

@@ -26,6 +26,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_ceres.sh cartographer/scripts/
 RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
 COPY scripts/install_proto3.sh cartographer/scripts/

Dockerfile.xenial

@@ -27,6 +27,8 @@ RUN apt-get update && apt-get install -y sudo && rm -rf /var/lib/apt/lists/*
 
 COPY scripts/install_debs_cmake.sh cartographer/scripts/
 RUN cartographer/scripts/install_debs_cmake.sh && rm -rf /var/lib/apt/lists/*
+COPY scripts/install_abseil.sh cartographer/scripts/
+RUN cartographer/scripts/install_abseil.sh && rm -rf /var/lib/apt/lists/*
 COPY scripts/install_ceres.sh cartographer/scripts/
 RUN cartographer/scripts/install_ceres.sh && rm -rf ceres-solver
 COPY scripts/install_proto3.sh cartographer/scripts/

cmake/modules/FindAbseil.cmake

@@ -0,0 +1,32 @@
+#!/bin/sh
+
+# Copyright 2019 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
+
+git clone https://github.com/abseil/abseil-cpp.git
+cd abseil-cpp
+git checkout d902eb869bcfacc1bad14933ed9af4bed006d481
+mkdir build
+cd build
+cmake -G Ninja \
+  -DCMAKE_BUILD_TYPE=Release \
+  -DCMAKE_INSTALL_PREFIX=/usr/local/stow/absl \
+  ..
+ninja
+sudo ninja install
+cd /usr/local/stow
+sudo stow absl

scripts/install_abseil.sh

@@ -45,7 +45,8 @@ sudo apt-get install -y \
     libgoogle-glog-dev \
     liblua5.2-dev \
     libsuitesparse-dev \
-    ninja-build
+    ninja-build \
+    stow
 
 if [[ "$(lsb_release -sc)" = "focal" ]]
 then