/
.travis.yml
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/
.travis.yml
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# Generic .travis.yml file for running continuous integration on Travis-CI for
# any ROS package.
#
# Available here:
# - http://felixduvallet.github.io/ros-travis-integration
# - https://github.com/felixduvallet/ros-travis-integration
#
# This installs ROS on a clean Travis-CI virtual machine, creates a ROS
# workspace, resolves all listed dependencies, and sets environment variables
# (setup.bash). Then, it compiles the entire ROS workspace (ensuring there are
# no compilation errors), and runs all the tests. If any of the compilation/test
# phases fail, the build is marked as a failure.
#
# We handle two types of package dependencies specified in the package manifest:
# - system dependencies that can be installed using `rosdep`, including other
# ROS packages and system libraries. These dependencies must be known to
# `rosdistro` and get installed using apt-get.
# - package dependencies that must be checked out from source. These are handled by
# `wstool`, and should be listed in a file named dependencies.rosinstall.
#
# There are two variables you may want to change:
# - ROS_DISTRO (default is indigo). Note that packages must be available for
# ubuntu 14.04 trusty.
# - ROSINSTALL_FILE (default is dependencies.rosinstall inside the repo
# root). This should list all necessary repositories in wstool format (see
# the ros wiki). If the file does not exists then nothing happens.
#
# See the README.md for more information.
#
# Author: Felix Duvallet <felixd@gmail.com>
# NOTE: The build lifecycle on Travis.ci is something like this:
# before_install
# install
# before_script
# script
# after_success or after_failure
# after_script
# OPTIONAL before_deploy
# OPTIONAL deploy
# OPTIONAL after_deploy
################################################################################
# Use ubuntu trusty (14.04) with sudo privileges.
dist: trusty
sudo: required
language:
- generic
cache:
- apt
# Configuration variables. All variables are global now, but this can be used to
# trigger a build matrix for different ROS distributions if desired.
env:
global:
- ROS_DISTRO=indigo
- ROS_CI_DESKTOP="`lsb_release -cs`" # e.g. [precise|trusty|...]
- CI_SOURCE_PATH=$(pwd)
- ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
- CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
- ROS_PARALLEL_JOBS='-j8 -l6'
################################################################################
# Install system dependencies, namely a very barebones ROS setup.
before_install:
- sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
- wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
- sudo apt-get update -qq
- sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
- source /opt/ros/$ROS_DISTRO/setup.bash
# Prepare rosdep to install dependencies.
- sudo rosdep init
- rosdep update
# Create a catkin workspace with the package under integration.
install:
- mkdir -p ~/catkin_ws/src
- cd ~/catkin_ws/src
- catkin_init_workspace
# Create the devel/setup.bash (run catkin_make with an empty workspace) and
# source it to set the path variables.
- cd ~/catkin_ws
- catkin_make
- source devel/setup.bash
# Add the package under integration to the workspace using a symlink.
- cd ~/catkin_ws/src
- ln -s $CI_SOURCE_PATH .
# Install all dependencies, using wstool first and rosdep second.
# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
before_script:
# source dependencies: install using wstool.
- cd ~/catkin_ws/src
- wstool init
- if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
- wstool up
# package depdencies: install using rosdep.
- cd ~/catkin_ws
- rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
# Compile and test (mark the build as failed if any step fails). If the
# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
# to blacklist certain packages.
#
# NOTE on testing: `catkin_make run_tests` will show the output of the tests
# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
# fails. Running `catkin_test_results` aggregates all the results and returns
# non-zero when a test fails (which notifies Travis the build failed).
script:
- source /opt/ros/$ROS_DISTRO/setup.bash
- cd ~/catkin_ws
- catkin_make $( [ -f $CATKIN_OPTIONS ] && cat $CATKIN_OPTIONS )
# Run the tests, ensuring the path is set correctly.
- source devel/setup.bash
- catkin_make run_tests && catkin_test_results